By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
K. Yoshida ; 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