| タイトル | Inverse dynamics of adaptive space cranes with tip point adjustment |
| 著者（英） | Utku, S.; Das, S. K.; Wada, B. K. |
| 著者所属（英） | Jet Propulsion Lab., California Inst. of Tech.|Duke Univ. |
| 発行日 | 1990-01-01 |
| 言語 | eng |
| 内容記述 | The 'space crane', which resembles a conventional solid-link robot but employs truss sections in place of links and length-adjustable bars in place of torque-generating motors, is presently characterized by means of two different inverse-dynamics schemes. While in the first of these the nominal angles are maintained between the links constituting the crane, the second scheme adjusts the nominal angles as a function of time in order to always maintain the tip of the crane along the desired (nomical) trajectory. Attention is given to the second scheme, and to a tip-adjustment method which keeps the high frequency flexibility vibration within limits and ensures numerical stability. |
| NASA分類 | SPACECRAFT DESIGN, TESTING AND PERFORMANCE |
| レポートNO | 90A29458
AIAA PAPER 90-1166 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/357110 |
