238 宇宙用劣駆動マニピュレータの制御法について

• 服部 真人

  筑波大院

• 藪野 浩司

  筑波大

• 青島 伸治

  筑波大

書誌事項

タイトル別名

• 238 On a Control Method of Underactuated Space Manipulators

抄録

In this paper, we investigate dynamics of an underactuated manipulator and detect a control method of the manipulator particularly under the restriction of angular momentum conservation for the application of underactuated manipulators in space. Bringing up the control method for the free second link using high-frequency excitation of the actuated first link in a two-link underactuated manipulator as our subject, we theoretically analyze its motion in space and propose a control method by utilizing bifurcation phenomena.

収録刊行物

• Dynamics & Design Conference

  Dynamics & Design Conference 2005 (0), _238-1_-_238-5_, 2005

  一般社団法人 日本機械学会

キーワード

• Angular momentum conservation
• Bifurcation
• High-frequency excitation
• Underactuated manipulator

詳細情報

• CRID: 1390001205889683584
• NII論文ID: 110006655260
• DOI: 10.1299/jsmedmc.2005._238-1_
• ISSN: 24242993
• Web Site: https://www.jstage.jst.go.jp/article/jsmedmc/2005/0/2005__238-1_/_pdf
• 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