複数ロボットによる大型柔軟構造物の協調輸送作業に関する研究:宇宙インフラストラクチャー技術の研究

Material type: 文書・図像類

Author: 石島, 義之ほか

Publisher: 宇宙航空研究開発機構

Publication date: 2006-01-20

Material Format: Digital

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Note (General)：: In the future missions, very large-scaled structures, such as Solar Power Plant System (SSPS), will be several kilometers across its largest dimension...

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Material Type: 文書・図像類
Title: 複数ロボットによる大型柔軟構造物の協調輸送作業に関する研究:宇宙インフラストラクチャー技術の研究
Author/Editor: 石島, 義之
上野, 浩史
小田, 光茂
Ishijima, Yoshiyuki
Ueno, Hiroshi
Oda, Mitsushige
Author Heading: 石島, 義之
上野, 浩史
小田, 光茂
Ishijima, Yoshiyuki
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): 2006-01-20
Alternative Title: Research on transportation of large flexible structures by cooperative free-flying robots: Research on space infrastructures
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: 41-46
ISSN (Periodical Title): ISSN : 1349-113X
Text Language Code: jpn
Subject Heading: 大型宇宙構造物
ISS
宇宙太陽光利用システム
大型柔軟構造物
軌道上組立て
宇宙機メンテナンス
制御系設計
ロボットダイナミクス
協調的フリーフライングロボット
large space structure
space solar power system
large flexible structure
orbital assembly
spacecraft maintenance
control system design
robot dynamics
cooperative free-flying robot
Target Audience: 一般
Note (General): In the future missions, very large-scaled structures, such as Solar Power Plant System (SSPS), will be several kilometers across its largest dimension and be composed of extremely flexible structural modules. Such structures can only be assembled in-orbit and teams of cooperative robots is essential for on-orbit assembly. This report addresses the problems of planning and control of the transportation of large and highly flexible structures by free-flying robots. An approach is proposed where the robots use their thrusters to control the 'rigid body' motion of the robot-structure system being transported and their manipulators to control and damp out vibration in the structure induced by the thruster firings. A modal active damping control law is developed, which uses measurements of the structure state provided by free-flying sensing robots. Simulation results show that this approach is effective in transporting the structure into its desired position. This report is a part of the results of the collaboration study between JAXA and MIT (Massachusetts Institute of Technology) in FY16.
資料番号: AA0049057011
レポート番号: JAXA-SP-05-011
Access Restrictions: 限定公開
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