When a space robot performs tasks, disturbances caused by payload motion downgrade the attitude control's accuracy. Thus the payload should be controlled so as not to generate large disturbances. Payload motion planning based on AMC (Angular Momentum Constraints) is proposed. In this method, disturbances are reduced by controlling the payload's redundant motions. Remaining disturbances caused by payload flexibility are compensated for by a robust feedback controller consisting of a variable gain and a H(sub infinity) controller. The usefulness of this approach is verified through numerical simulations and hardware experiments.
Coordinated control of a satellite-mounted manipulator with consideration of payload flexibility
Koordinierte Lageregelung eines Roboters in einer Weltraumstation unter Berücksichtigung der Belastungsflexibilität
Control Engineering Practice ; 9 , 2 ; 207-215
2001
9 Seiten, 10 Bilder, 5 Tabellen, 8 Quellen
Aufsatz (Zeitschrift)
Englisch
Coordinated Control of a Satellite-Mounted Manipulator with Consideration of Payload Flexibility
British Library Conference Proceedings | 1999
|Coordinated Control of a Satellite-Mounted Manipulator with Consideration of Payload Flexibility
British Library Conference Proceedings | 1999
|Simulator of Satellite - Mounted Multiple Manipulator
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