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Utilization of the bias momentum approach for capturing a tumbling satellite

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2 Author(s)
Dimitrov, D.N. ; Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan ; Kazuya Yoshida,

This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation after the contact with the target is discussed from the viewpoint of angular momentum distribution. A new capturing strategy utilizing bias momentum is introduced. By using the space of the coupling inertia matrix we present a method for angular momentum redistribution while following a desired trajectory.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004

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