The robotic manipulator is proposed as the mechanical analog to single gimbal control moment gyroscope systems, and it is shown that both systems share similar difficulties with singular configurations. This analogy is used to group gimbal angles corresponding to any momentum state into different families. The singularity problem associated with these systems is examined in detail. In particular, a method is presented to test for the possibility of nontorque-producing gimbal motion at a singular configuration, as well as to determine the admissible motions in the case when this is possible. Sufficient conditions are derived for instances where the singular system can be reconfigured into a nonsingular state by these nontorque-producing motions.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Redundant single gimbal control moment gyroscope singularity analysis


    Beteiligte:


    Erscheinungsdatum :

    1990-12-01



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Redundant single gimbal control moment gyroscope singularity analysis

    BEDROSSIAN, NAZARETH S. / PARADISO, JOSEPH / BERGMANN, EDWARD V. et al. | AIAA | 1990


    Singularity robust steering logic for redundant single-gimbal control moment gyros

    Wie, Bong / Bailey, David / Heiberg, Christopher | AIAA | 2000


    Singularity Robust Steering Logic for Redundant Single-Gimbal Control Moment Gyros

    Bong Wie / David Bailey / Christopher Heiberg | AIAA | 2001


    Existence of Nonsingular Steering in Redundant Single Gimbal Control Moment Gyroscope Systems

    Wu, Z. / Wu, H. / AIAA | British Library Conference Proceedings | 1998