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.


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    Titel :

    Coordinated control of a satellite-mounted manipulator with consideration of payload flexibility


    Weitere Titelangaben:

    Koordinierte Lageregelung eines Roboters in einer Weltraumstation unter Berücksichtigung der Belastungsflexibilität


    Beteiligte:
    Taniwaki, S. (Autor:in) / Matunaga, S. (Autor:in) / Tsurumi, S. (Autor:in) / Ohkami, Y. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2001


    Format / Umfang :

    9 Seiten, 10 Bilder, 5 Tabellen, 8 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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    Taniwaki, S. / Matunaga, S. / Ohkami, Y. et al. | British Library Conference Proceedings | 1999


    A high flexibility mobile communications satellite payload

    FRAISE, P. / COULOMB, B. / DARBANDI, A. et al. | AIAA | 1992



    Simulator of Satellite - Mounted Multiple Manipulator

    Nagashima, F. | British Library Conference Proceedings | 1993