Coordinated control of a satellite mounted robot arm and the satellite attitude Results of the in-orbit experiments on NASDA’s ETS-VII satellite
نویسنده
چکیده
When a robot arm(s) conducts some tasks on a satellite, the satellite attitude stability is necessary against the robot arm's motion to maintain the communication link and to generate electrical power from the solar panel(s). However the reaction from the robot arm is much stronger than the natural environmental disturbance torque that the traditional satellite attitude control system cares. National Space Development Agency of Japan (NASDA) launched an Engineering Test Satellite named ETS-VII which has 2m long robot arm and handles payload of up to 400kg. Mass of the satellite is 2.5t and therefore, the reaction form the robot arm is not negligible. This paper introduces the coordinated satellite attitude and onboard robot arm control and its experiment results gained by the ETS-VII satellite. (Keywords) space robot, space manipulator, satellite attitude control, satellite dynamics
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On-ground tele-operation and on-board autonomous control for the ETS-VII’s rendezvous docking and space robot experiments
In the near future space activities, the in-orbit servicing capability which means transportation of logistics, maintenance of spacecraft and assist of scientific activities such as space experiments are highly required. These work will be partly conducted by astronauts and manned spacecraft. However, most of these works should be done by unmanned spacecraft and robots from the safety and cost ...
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