A space robot is considered which consists of a satellite base and a manipulator mounted on the base. The mission of the robot is to capture a tumbling object in space, the motion of which is governed by Euler's equation, by controlling the manipulator joint angles. First, the equations of motion of the space robot are derived by using the conservation law of linear and angular moments. Then, a sensory feedback control law is proposed which guarantees that both the position and the orientation of the manipulator hand coincide asymptotically with those of the tumbling object. Some results of a computer simulation are also shown.


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    Title :

    Control of a space manipulator for capturing a tumbling object


    Additional title:

    Regelung eines Raumfahrt-Manipulators zum Einfangen eines taumelnden Satellitens


    Contributors:
    Luo, Z.H. (author) / Sakawa, Y. (author)


    Publication date :

    1990


    Size :

    6 Seiten, 9 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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