When a robot arm(s) moves on a satellite to conduct some tasks, it provides reaction torque to the satellite platform. However, satellite's attitude must be maintained against the reaction to maintain the communication link with a data relay satellite and to generate electrical power from its solar panel(s). NASDA (National Space Development Agency) of Japan launched a such satellite named ETS- VII in 1997 to conduct the rendezvous docking and space robot technology experiments. The satellite has a 2 m long robot arm and it handles payload weighing up to 400 kg. Mass satellite is 2.5 t and therefore, the reaction form the robot arm is not negligible. It is shown how the coordinated control of the satellite attitude and the onboard robot arm is realized.


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    Title :

    Coordinated control of a satellite mounted robot arm and the satellite attitude. Results of the on-orbit experiments on NASDA's ETS-VII satellite


    Additional title:

    Koordinierte Roboterregelung und Satellitenregelung. Versuchsergebnisse auf der Umlaufbahn des Satelliten ETS-VII


    Contributors:
    Oda, M. (author)


    Publication date :

    1999


    Size :

    7 Seiten, 11 Bilder, 22 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English