拡張逆慣性行列を用いた浮遊リンク系の衝突運動の定式化

DOI 被引用文献10件 参考文献9件

書誌事項

タイトル別名
  • Modeling of Collision Dynamics of Free-Floating Link Systems with Extended Inversed Inertia Tensor.

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抄録

This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named “Extended Inversed Inertia Tensor (Ex-IIT) ”, which is an extended version of the IIT for ground-based arms, and discuss the virtual mass concept. By means of the concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law. The validity of the formulation is confirmed by a simple free-floating experiment.

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参考文献 (9)*注記

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詳細情報 詳細情報について

  • CRID
    1390001204725571712
  • NII論文ID
    10006717156
  • NII書誌ID
    AN00141189
  • DOI
    10.7210/jrsj.11.410
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • Crossref
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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