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.


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    Titel :

    Time-optimal manipulator control for management of angular momentum distribution during the capture of a tumbling target


    Weitere Titelangaben:

    Zeitoptimale Manipulatorregelung für die Handhabung der Drehimpulsverteilung während des Ergreifens eines fallenden Objekts


    Beteiligte:
    Oki, Tomohisa (Autor:in) / Nakanishi, Hiroki (Autor:in) / Yoshida, Kazuya (Autor:in)

    Erschienen in:

    Advanced Robotics ; 24 , 3 ; 441-466


    Erscheinungsdatum :

    2010


    Format / Umfang :

    26 Seiten, 14 Bilder, 1 Tabelle, 16 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





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    Yoshikawa, Shoji / Yamada, Katsuhiko | Elsevier | 2006


    Impulsive Control for Angular Momentum Management of Tumbling Spacecraft

    Yoshikawa, S. / Yamada, K. / Nihon Koku Uchu Gakkai | British Library Conference Proceedings | 2004


    Angular Momentum Control of Tumbling Spacecraft by Repetitive Impulses

    Yoshikawa, Shoji / Yamada, Katsuhiko | AIAA | 2007


    Angular Momentum Control of Tumbling Spacecraft by Repetitive Impulse Inputs

    Yoshikawa, S. / Yamada, K. | British Library Conference Proceedings | 2000