大型宇宙マニピュレータの残留振動抑制に関する研究

Material type: 規格・テクニカルリポート類

Author: 澤田, 弘崇ほか

Publisher: 宇宙航空研究開発機構

Publication date: 2006-01-20

Material Format: Digital

Capacity, size, etc.: -

NDC: -

View All

Notes on use

Note (General)：: 出版タイプ： NAThis paper describes a method for operating large robotic manipulators, which generally has flexible links and joints in space. Vibration ind...

Search by Bookstore

Holdings of Libraries in Japan

This page shows libraries in Japan other than the National Diet Library that hold the material.

List of Cooperating Institutions and Databases

Please contact your local library for information on how to use materials or whether it is possible to request materials from the holding libraries.

other

JAXA Repository
Digital
You can check the holdings of institutions and databases with which Institutional Repositories DataBase(IRDB)(Institutional Repository) is linked at the site of Institutional Repositories DataBase(IRDB)(Institutional Repository).
JAXA Repository

Search by Bookstore

Bibliographic Record

You can check the details of this material, its authority (keywords that refer to materials on the same subject, author's name, etc.), etc.

Digital

Material Type: 規格・テクニカルリポート類
Title: 大型宇宙マニピュレータの残留振動抑制に関する研究
Author/Editor: 澤田, 弘崇
上野, 浩史
小田, 光茂
Sawada, Hirotaka
Ueno, Hiroshi
Oda, Mitsushige
Author Heading: Sawada, Hirotaka
Ueno, Hiroshi
Oda, Mitsushige
Publication, Distribution, etc.: 宇宙航空研究開発機構
Publication Date: 2006-01-20
Publication Date (W3CDTF): 2006
Alternative Title: Study of residual vibration suppression for a large robotic manipulator in space
Periodical title: 宇宙航空研究開発機構特別資料: 平成16年度総合技術研究本部宇宙領域宇宙科学研究本部合同研究成果報告書:先行研究等 = JAXA Special Publication: FY2004 Report of Joint Research Achievements of the Space Division of Institute of Aerospace Technology and Institute of Space and Astronautical Science: Pioneering Research
No. or year of volume/issue: JAXA-SP-05-011
Volume: JAXA-SP-05-011
Pages: 29-34
ISSN (Periodical Title): ISSN : 1349-113X
Subject Heading: 残留振動
大型宇宙構造物
ISS
ロボットアーム
振動減衰
フィードフォーワード制御
動的制御
制御系設計
ロボット制御
residual vibration
large space structure
robot arm
vibration damping
feedforward control
dynamic control
control system design
robot control
Target Audience: 一般
Note (General): 出版タイプ： NA
This paper describes a method for operating large robotic manipulators, which generally has flexible links and joints in space. Vibration induced by flexibility is a serious problem when operating a long manipulator in orbit. Once vibration has occurred while a manipulator is handling a payload, the operator must wait for the vibration to be damped before proceeding, which decreases working efficiency. We studied a control method to suppress vibration during both manual and automatic operations. We investigated an Input Shaping feed-forward control method for damping residual vibration during operation. We discuss in detail the results of the pre-shaping vibration suppression and manual operation experiments in this paper.
資料番号: AA0049057009
レポート番号: JAXA-SP-05-011
Periodical Title (NCID): AA11984031
https://ci.nii.ac.jp/ncid/AA11984031
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 宇宙航空研究開発機構 : 宇宙航空研究開発機構リポジトリ