書誌事項
- タイトル別名
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- Handling of a Floating Object by Several Space Robots.
- フクスウダイ ノ ウチュウ ロボット ニ ヨル フユウ ブッタイ ノ セイギョ
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抄録
This paper deals with handling of a floating object by several space robots. Operational ability of a space robot depends on its scale, and the scale of a space robot is restricted by the capacity of a rocket, which is used to launch the space robot into space. For this reason, a cooperation of several smaller scale space robots is useful and necessary in space development. In this paper, system which consists of two space robots and a floating object is considered, and two partition methods of its kinematic relation equation is proposed. Moreover, Resolved Motion Rate Control schemes for the system are designed based on the partitioned kinematic relation equations, and computer simulations are carried out to verify the control law.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 64 (628), 4710-4716, 1998
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681305592320
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- NII論文ID
- 130004233086
- 110002384108
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- HANDLE
- 10228/283
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- NDL書誌ID
- 4653492
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可