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宇宙マニピュレータテストベッドSMART‐IIによる手先軌道適応制御実験
http://hdl.handle.net/10228/4466
http://hdl.handle.net/10228/4466a9e27eab-2a50-4bcf-979e-dd911f734033
名前 / ファイル | ライセンス | アクション |
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tech69_p7_14.pdf (1.5 MB)
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Item type | 紀要論文 = Departmental Bulletin Paper(1) | |||||||||||
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公開日 | 2010-01-28 | |||||||||||
資源タイプ | ||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
資源タイプ | departmental bulletin paper | |||||||||||
タイトル | ||||||||||||
言語 | ja | |||||||||||
タイトル | 宇宙マニピュレータテストベッドSMART‐IIによる手先軌道適応制御実験 | |||||||||||
タイトル | ||||||||||||
言語 | en | |||||||||||
タイトル | Trajectory Control Experiments of Space Manipulator Using its Testbed SMART-II | |||||||||||
言語 | ||||||||||||
言語 | jpn | |||||||||||
著者 |
稲田, 智久
× 稲田, 智久× 中塚, 敬一× 小林, 順
WEKO
126
× 大川, 不二夫× 相良, 慎一× 加藤, 了三 |
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抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | This report deals with performances of a testbed (Space Manipulator Robot Testbed II: SMART-II) developed and experimental results of end-effector’s trajectory control of space robot manipulator by digital adaptive control using the testbed. In this testbed, D.C. motors with backlashless reduction gears, namely harmonic gears, were used as actuators driving manipulators, while the testbed was developed based on the same concept as that of a testbed SMART-1. Trajectorycontrol experiments of space robot manipulator were performed using digital adaptive control method developed, and the usefulness of the testbed and the validity of the control method were successfully confirmed by the experiments. | |||||||||||
言語 | en | |||||||||||
書誌情報 |
ja : 九州工業大学研究報告. 工学 en : Bulletin of the Kyushu Institute of Technology. Science and technology 号 69, p. 7-14, 発行日 1997-03-01 |
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出版者 | ||||||||||||
言語 | ja | |||||||||||
出版者 | 九州工業大学工学部 | |||||||||||
NCID | ||||||||||||
収録物識別子タイプ | NCID | |||||||||||
収録物識別子 | AN00054084 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | PISSN | |||||||||||
収録物識別子 | 0453-0357 | |||||||||||
版 | ||||||||||||
出版タイプ | VoR | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
査読の有無 | ||||||||||||
値 | no |