When a robot arm is mounted on a satellite to perform some tasks the satellite's attitude must be stabilized to retain the communication link and to generate electrical power from solar panels. It is not realistic to control the total system as one dynamic system since the number of degrees of freedom becomes too large to be handled by state-of-the-art satellite-mounted computers. A coordinated control between the satellite's attitude control system and the robot arm control system is proposed. The robot arm control system estimates the angular momentum of the planned robot arm's motion. The satellite's attitude control system will compensate for the reaction by using feed-forward control. The robot arm controller also manages the motion plan of the robot arm in order not to disturb the satellite's attitude stability. The robot-arm controller checks whether the angular momentum that the planned robot arm's motion will produce will be within the capability of the satellite's attitude-control system. If the planned robot arm's motion will produce a larger angular momentum than the capability of the satellite's attitude-control system, then the planned motion will be modified, or its execution will be prohibited.
Coordinated control of spacecraft attitude and space manipulators
Koordinierte Flugregelung eines Satellits und die Positionsregelung eines Weltraummanipulators
Control Engineering Practice ; 5 , 1 ; 11-21
1997
11 Seiten, 13 Bilder, 1 Tabelle, 20 Quellen
Article (Journal)
English
Coordinated Control of Spacecraft Attitude and Space Manipulator
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