書誌事項
- タイトル別名
-
- Simultaneous Control Experiment of Orientation and Arm Position of Space Robot Using Drop Shaft.
- ラッカ シセツ オ ツカッタ ウチュウ ロボット ノ ウデ シセイ ドウジ セ
この論文をさがす
抄録
We demonstrate the motion of a space robot in microgravity with use of the drop shaft at the Japan Microgravity Center (JAMIC). The drop shaft could provide 10-second microgravity. The technique used to stably levitate a robot is the most important element in experiments with robot motions using a drop shaft. Therefore, we developed a holding mechanism with grippers and tested it first. We then propose a sensorbased path planning method to control the orientation and the arm position of a space robot. This method compiles a database of current sensory outputs, motion and next sensory outputs, and searches the path using breadth-first search. This method is an application of a finite state automaton. We proved the above results by experiments using a drop shaft.
収録刊行物
-
- 日本航空宇宙学会誌
-
日本航空宇宙学会誌 45 (527), 705-712, 1997
一般社団法人 日本航空宇宙学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001204477646592
-
- NII論文ID
- 10002862254
-
- NII書誌ID
- AN00189072
-
- ISSN
- 24241369
- 00214663
-
- NDL書誌ID
- 4353048
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可