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Practical coordination control between satellite attitude and manipulator reaction dynamics based on computed momentum concept

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1 Author(s)
Yoshida, K. ; Dept. of Mechano-Aerospace Eng., Tokyo Inst. of Technol., Japan

This paper presents a practical control method for the robot satellite attitude to cope with manipulator reaction on free-floating space robots, developing the computed-momentum based reaction compensation (CMRC) concept. The author proposes versions of the CMRC control schemes based on angular momentum conservation in floating multi-link systems, practical schemes which require far less computation than the computed-torque based methods. The proposed schemes are demonstrated and examined by computer simulations using a realistic 3D model which involves the free-floating dynamics and the structural vibration of solar paddles

Published in:

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:3 )

Date of Conference:

12-16 Sep 1994