Abstract:
This paper discusses a control strategy of a free- floating space robot for capturing a non-cooperative target. It is desirable that the base attitude deviation of the ro...Show MoreMetadata
Abstract:
This paper discusses a control strategy of a free- floating space robot for capturing a non-cooperative target. It is desirable that the base attitude deviation of the robot is minimized for accurate operation by a manipulator arm mounted on it, for communication with the earth, and the ideal contact with the target so that the target would not be pushed away, impedance control and Distributed Momentum Control are reasonable for the above two requirements. The proposed strategy includes both control methods simultaneously using the manipulator's redundancy. Moreover, a control law for reaction wheels is proposed so that the singularity problem would not happened. The proposed strategy is verified from results of numerical simulations that compare the different degree of freedom manipulator.
Date of Conference: 29 October 2007 - 02 November 2007
Date Added to IEEE Xplore: 10 December 2007
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Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Space Robot ,
- Free-floating Space Robot ,
- Simulation Results ,
- Control Strategy ,
- Control Method ,
- Optimal Control ,
- Numerical Simulation Results ,
- Singularity Problem ,
- Impedance Control ,
- Satellite ,
- Center Of Mass ,
- Angular Velocity ,
- Angular Momentum ,
- Jacobian Matrix ,
- Contact Force ,
- Angular Distribution ,
- Dynamic Coupling ,
- Inertial Frame ,
- Inertia Matrix ,
- Linear Momentum ,
- External Torque ,
- Joint Velocity ,
- Contact Phase ,
- Hand Velocity ,
- Torque Limits ,
- Arm Motion ,
- Use Of Motion ,
- Robotic Hand
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Space Robot ,
- Free-floating Space Robot ,
- Simulation Results ,
- Control Strategy ,
- Control Method ,
- Optimal Control ,
- Numerical Simulation Results ,
- Singularity Problem ,
- Impedance Control ,
- Satellite ,
- Center Of Mass ,
- Angular Velocity ,
- Angular Momentum ,
- Jacobian Matrix ,
- Contact Force ,
- Angular Distribution ,
- Dynamic Coupling ,
- Inertial Frame ,
- Inertia Matrix ,
- Linear Momentum ,
- External Torque ,
- Joint Velocity ,
- Contact Phase ,
- Hand Velocity ,
- Torque Limits ,
- Arm Motion ,
- Use Of Motion ,
- Robotic Hand