This paper deals with management problems of angular momentum distribution during the capture of a tumbling target by a free-floating space robot with constraints on the torque and angular momentum that the reaction wheels of the robot are able to output to suppress rotational motion of the robot base. A time-optimal control of the manipulator arm during the approaching phase of the capturing mission and an estimation method to minimize the base rotation after the manipulator captures the tumbling target are proposed in order to realize desirable angular momentum distribution of the entire system. The proposed strategy is verified by numerical simulation with a free-floating space robot model equipped with a 7-d.o.f. manipulator and a system of three reaction wheels.
Time-optimal manipulator control for management of angular momentum distribution during the capture of a tumbling target
Zeitoptimale Manipulatorregelung für die Handhabung der Drehimpulsverteilung während des Ergreifens eines fallenden Objekts
Advanced Robotics ; 24 , 3 ; 441-466
2010
26 Seiten, 14 Bilder, 1 Tabelle, 16 Quellen
Aufsatz (Zeitschrift)
Englisch
Impulsive control for angular momentum management of tumbling spacecraft
Online Contents | 2007
|Impulsive control for angular momentum management of tumbling spacecraft
Elsevier | 2006
|Impulsive Control for Angular Momentum Management of Tumbling Spacecraft
British Library Conference Proceedings | 2004
|Angular Momentum Control of Tumbling Spacecraft by Repetitive Impulse Inputs
British Library Conference Proceedings | 2000
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