{"id":"https://openalex.org/W2687857643","doi":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","title":"1P2-K06 Reactionless Point-To-Point Motion Control for a Planar Free-Floating Space Robot(Space Robotics)","display_name":"1P2-K06 Reactionless Point-To-Point Motion Control for a Planar Free-Floating Space Robot(Space Robotics)","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2687857643","doi":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","mag":"2687857643"},"language":"en","primary_location":{"id":"doi:10.1299/jsmermd.2014._1p2-k06_1","doi":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","pdf_url":"https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1P2-K06_1/_pdf","source":{"id":"https://openalex.org/S4210229544","display_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","issn_l":"2424-3124","issn":["2424-3124"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","raw_type":"journal-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1P2-K06_1/_pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091265345","display_name":"Hiroki Sone","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I185088104","display_name":"Tokyo City University","ror":"https://ror.org/04dt6bw53","country_code":"JP","type":"education","lineage":["https://openalex.org/I185088104"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiroki SONE","raw_affiliation_strings":["Tokyo City University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo City University","institution_ids":["https://openalex.org/I185088104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022199266","display_name":"Daisuke Sato","orcid":"https://orcid.org/0000-0002-7670-9177","observed_orcids":["https://orcid.org/0000-0002-7670-9177"]},"institutions":[{"id":"https://openalex.org/I185088104","display_name":"Tokyo City University","ror":"https://ror.org/04dt6bw53","country_code":"JP","type":"education","lineage":["https://openalex.org/I185088104"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke SATO","raw_affiliation_strings":["Tokyo City University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo City University","institution_ids":["https://openalex.org/I185088104"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051317790","display_name":"Yoshikazu Kanamiya","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I185088104","display_name":"Tokyo City University","ror":"https://ror.org/04dt6bw53","country_code":"JP","type":"education","lineage":["https://openalex.org/I185088104"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshikazu(D. N.) KANAMIYA(Nenchev)","raw_affiliation_strings":["Tokyo City University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo City University","institution_ids":["https://openalex.org/I185088104"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5091265345"],"corresponding_institution_ids":["https://openalex.org/I185088104"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33496527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2014","issue":"0","first_page":"_1P2","last_page":"K06_1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8974999785423279,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8974999785423279,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.08250000327825546,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.012900000438094139,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/free-floating-space-robot","display_name":"free-floating space robot","score":0.765999972820282},{"id":"https://openalex.org/keywords/singularity-problem","display_name":"singularity problem","score":0.7170000076293945},{"id":"https://openalex.org/keywords/space-robotics","display_name":"space robotics","score":0.6880000233650208}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7582012414932251},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6897476315498352},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5743404626846313},{"id":"https://openalex.org/C174440990","wikidata":"https://www.wikidata.org/wiki/Q681349","display_name":"Point-to-point","level":2,"score":0.5667949318885803},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5584316253662109},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5516949892044067},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5509160161018372},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5418082475662231},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5096204280853271},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5063275098800659},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5034899115562439},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4663839340209961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4572008550167084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44789063930511475},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4469868838787079},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4342968165874481},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4283982813358307},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.41322070360183716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37903672456741333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3653673529624939},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21072885394096375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1623341143131256},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.12088438868522644},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11252531409263611},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08752933144569397},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1299/jsmermd.2014._1p2-k06_1","doi":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","pdf_url":"https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1P2-K06_1/_pdf","source":{"id":"https://openalex.org/S4210229544","display_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","issn_l":"2424-3124","issn":["2424-3124"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1299/jsmermd.2014._1p2-k06_1","doi":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsmermd.2014._1p2-k06_1","pdf_url":"https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1P2-K06_1/_pdf","source":{"id":"https://openalex.org/S4210229544","display_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","issn_l":"2424-3124","issn":["2424-3124"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2687857643.pdf","grobid_xml":"https://content.openalex.org/works/W2687857643.grobid-xml"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W1731366831","https://openalex.org/W1839048329","https://openalex.org/W1985144336","https://openalex.org/W2105229687","https://openalex.org/W2128923571","https://openalex.org/W2137941227"],"related_works":["https://openalex.org/W1571762800","https://openalex.org/W2354314678","https://openalex.org/W3212609603","https://openalex.org/W3148678814","https://openalex.org/W1985144336","https://openalex.org/W1974011282","https://openalex.org/W1989319041","https://openalex.org/W2103141715","https://openalex.org/W2335208857","https://openalex.org/W1608611172"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,11,16,80,96],"method":[4],"of":[5,10,26,34,84,120,124],"reactionless":[6,27,112],"point-to-point":[7,113],"motion":[8,28,114],"control":[9,29,115],"planar":[12],"3R":[13],"manipulator":[14,77],"on":[15],"free-floating":[17],"base,":[18],"utilizing":[19],"the":[20,30,38,46,50,59,65,76,82,85,92,103,109,121,125],"transposed":[21],"Jacobian":[22],"matrix.":[23],"In":[24],"case":[25],"singularity":[31],"problem":[32],"is":[33,41,61,106],"complex":[35],"nature":[36],"and":[37],"accessible":[39,93],"workspace":[40],"severely":[42],"limited.":[43],"To":[44],"alleviate":[45],"problem,":[47],"we":[48],"divide":[49],"joints":[51,71],"into":[52],"two":[53,70],"sets.":[54],"The":[55,68],"joint":[56],"closest":[57],"to":[58,63,74,90],"base":[60,66],"used":[62,73],"constrain":[64],"orientation.":[67],"other":[69],"are":[72],"position":[75,105],"end-effector.":[78],"As":[79],"result,":[81],"behavior":[83],"system":[86],"becomes":[87],"sufficiently":[88],"simple":[89],"analyze":[91],"area":[94],"via":[95],"geometric":[97],"approach.":[98],"We":[99],"conclude":[100],"that":[101],"if":[102],"desired":[104],"set":[107],"in":[108],"specified":[110],"area,":[111],"can":[116],"be":[117],"accomplished":[118],"regardless":[119],"initial":[122],"configuration":[123],"manipulator.":[126]},"counts_by_year":[],"updated_date":"2026-10-30T12:39:25.321706","created_date":"2017-06-30T00:00:00"}