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Coordinated manipulator/spacecraft motion control for space robotic systems

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2 Author(s)
Papadopoulos, E. ; Dept. of Mech. Eng., MIT, Cambridge, MA, USA ; Dubowsky, S.

The coordinated control of space manipulators and their spacecraft is investigated. The dynamics of free-flying space robotic systems are written compactly as functions of the system barycentric vectors. A control technique is developed that includes requirements on a spacecraft's position and orientation as well as on its manipulator. This control scheme has the double advantage of allowing a system's motion to be planned to avoid impacts with is environment, and of maintaining a favorable manipulator configuration during the end-effector's motion. In addition, since a system's spacecraft can be moved, the workspace of its manipulator becomes unlimited. A transposed-Jacobian type controller with inertial feedback is developed, and an example is used to demonstrate this technique

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991