An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators' motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics.
Space manipulator motions with no satellite attitude disturbances
Bewegungen eines Raumfahrtmanipulators ohne Störung der Satellitenhöhe
1990
6 Seiten, 14 Quellen
Aufsatz (Konferenz)
Englisch
Rendezvous and Attitude Synchronization of a Space Manipulator
Online Contents | 2019
|Rendezvous and Attitude Synchronization of a Space Manipulator
Springer Verlag | 2019
|