宇宙ロボット運用の観点から見た多関節アームコンフィギュレーションの評価指標 Evaluation Criteria for Multi-Joint Arm Configuration in Space Robotics Operations

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抄録

The Canadian Space Station Remote Manipulator System (SSRMS) that consists of 7 joints has been in operation since 2001 aboard the International Space Station (ISS). The extensive operational experience of the Space Shuttle's Remote Manipulator System (SRMS), which has 6 joints, played a significant role in the design and operation of the ISS robotics. However, optimization of the ISS robotics operation for different types of tasks utilizing the unique redundancy characteristics of the 7-joint systems is still underway. In this study, we have proposed three evaluation indices for multi-joint arm configurations in order to avoid collision with surrounding structures. Based on the evaluation of operations of the SSRMS a demonstration model, it has turned out that the proposed indices are beneficial for enhancing clearance monitoring of the arm with respect to the surrounding structures. Furthermore we have proposed an operation support display to contribute to the operational safety and mission success.

収録刊行物

  • 日本機械学会論文集. C編

    日本機械学会論文集. C編 69(685), 2323-2330, 2003-09-25

    一般社団法人日本機械学会

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各種コード

  • NII論文ID(NAID)
    110002379136
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03875024
  • NDL 記事登録ID
    6716943
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  NDL  NII-ELS 
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