Coordinated Control of Spacecraft's Attitude and its Manipulator. 2nd Report. Spacecraft Attitude Control Against the Manipulator Arm Motion.
نویسندگان
چکیده
منابع مشابه
Coordinated Manipulator/spacecraft Motion Control for Space Robotic Systems
This paper studies the coordinated control of space manipulators and their spacecraft. The dynamics of freeflying space robotic systems are written compactly as functions of the system barycentric vectors. A control technique is developed that includes requirements on a spacecraft’s position and orientation as well as on its manipulator. A Transposed-Jacobian type controller with inertial feedb...
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Abstract: The Coordination of the motion planning of the manipulator end point and the mobile base is a crucial task for a mobile robot control. The mobile manipulator is mounted on the mobile platform where the end point of the manipulator is guided to follow an arbitrarily chosen path .The mobile platform may move in such a manner so that the manipulator end may track the arbitrary trajectori...
متن کاملSynchronization and Control of Attitude for Spacecrafts:
The topic of this paper is to control and synchronize sphere-shaped spacecrafts in a leader-follower synchronization scheme. In order to achieve this objective, a nonlinear mathematical model of the vehicles has been developed. The design is based on rigid body dynamics where the vessel is actuated by means of three orthogonally mounted reaction wheels. The attitude dynamics is derived using Eu...
متن کاملSpacecraft Attitude Tracking Control
The problem of reorienting a spacecraft in to acquire a moving target is investigated. The spacecraft is modeled as a rigid body with N axisymmetric wheels controlled by axial torques, and the kinematics are represented by Modified Rodriques Parameters. The trajectory, denoted the reference trajectory, is one generated by a virtual spacecraft that is identical to the actual spacecraft. The open...
متن کاملMinimizing Spacecraft Attitude Disturbances in Space Manipulator Systems
This paper presents a technique called the Enhanced Disturbance Map to plan space manipulator motions that will result in relatively low spacecraft disturbances. This subject is of significant concern because future robotic systems used in space may encounter problems due to the dynamic disturbances imposed on their spacecraft by their manipulator motions. Although a spacecraft's attitude contr...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1996
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.62.3826