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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    Title :

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


    Additional title:

    Koordinierte Lageregelung eines Roboters in einer Weltraumstation unter Berücksichtigung der Belastungsflexibilität


    Contributors:
    Taniwaki, S. (author) / Matunaga, S. (author) / Tsurumi, S. (author) / Ohkami, Y. (author)

    Published in:

    Publication date :

    2001


    Size :

    9 Seiten, 10 Bilder, 5 Tabellen, 8 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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