Momentum distribution in a space manipulator for facilitating the post-impact control

Dimitar Nikolaev Dimitrov, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

73 Citations (Scopus)

Abstract

This paper presents a new strategy for capturing a free floating satellite initially having angular momentum. The main focus is on the base attitude before, during and after the catch. We use a joint space orthogonal decomposition procedure involving the so-called reaction null space during the pre-impact and post-impact phases. The idea of preloading bias momentum in a space robot system is discussed. Furthermore, we show that if proper post impact control is utilized the base deviation can be minimized.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3345-3350
Number of pages6
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryJapan
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • Engineering(all)

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