書誌事項
- タイトル別名
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- The development of an autonomous space robot operation testbed: ASROT.
抄録
We developed a two dimensional operation testbed for an autonomous free-flying space robot such as an orbital maneuvering vehicle. This system is named ASROT (Autonomous space robot operation testbed) . Basically, ASROT consists of a satellite robot, a target, a host computer and a planar base. A host computer is only used for observation and data gathering of the system. A satellite robot is a satellite which can establish various tasks with a manipulator. A satellite is 620mm (W) ×805mm (H) ×620mm (L) . Its weight is 120 kg. This system is floating on a planar base using air bearings, and is able to fly around using thrusters for position control and a control moment gyro for attitude control. A manipulator is a flexible arm and 1.4m long. This paper proposes an operating system which is needed for real time autonomous control. A satellite robot installs hardware systems such as vision systems, board computers, image processing units, and software systems such as algorithms for path planning.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 8 (6), 712-720, 1990
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204724824960
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- NII論文ID
- 130000850181
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可