落下施設を用いたロボットの運動実験

書誌事項

タイトル別名
  • Experiment of Robotic Motion Using Drop Shaft.

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抄録

This paper describes an experimental result of motion of a space robot using a drop shaft. The drop shaft is 710[m] deep and can be used for micro-gravity experiment during 10 seconds. The robot for this experiment equipped with three links. The micro-gravity environment had 0.03[m/s2] variation. When the robot was apart from the holding mechanism, it obtained small linear and angular momentum. However, the robot did not collide with the environment during the motion. A simulation was conducted and compared with the experiment. The z-axis rotational motions are in good agreement with each other, however the x and y-axes, which are parallel to the vision plane, were not. The robot got no damage during the experiment.

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被引用文献 (8)*注記

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参考文献 (4)*注記

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詳細情報

  • CRID
    1390282679703421312
  • NII論文ID
    10011651530
  • NII書誌ID
    AN00141189
  • DOI
    10.7210/jrsj.13.1206
  • ISSN
    18847145
    02891824
  • 本文言語コード
    en
  • 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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