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宇宙ロボットの適応制御
http://hdl.handle.net/2297/28567
http://hdl.handle.net/2297/28567680c5c37-d442-4770-89d5-101e37057ac8
名前 / ファイル | ライセンス | アクション |
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TE-PR-SENDA-K-832.pdf (2.6 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | 宇宙ロボットの適応制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Adaptive Control of Space Robots | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
泉田, 啓
× 泉田, 啓× 長岡, 秀行× 室津, 義定 |
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書誌情報 |
日本ロボット学会誌 = Journal of the Robotics Society of Japan 巻 16, 号 6, p. 832-838, 発行日 1998-09-15 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0289-1824 | |||||
NCID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 = The Robotics Society of Japan | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper is concerned with an adaptive control of free-flying space robots with uncertain inertial parameters of payloads. It is applicable to control all of the position and attitude of the satellite vehicle as well as that of the manipulator hand if the satellite has position/attitude control devices, e.g., thrusters and control momentum gyros. The proposed adaptive control realizes high control performance by estimating unknown parameters even if a control model has an error to the real plant caused by the payload. Asymptotic stability of the adaptive control is proven by Lyapunov's second method. The effectiveness is examined by numerical simulations for a hardware experimental system. | |||||
権利 | ||||||
権利情報 | Copyright© 社団法人 日本ロボット学会 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://japanlinkcenter.org/JST.Journalarchive/jrsj1983/16.832 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://ci.nii.ac.jp/naid/10002864506 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.rsj.or.jp/index.html |