TY - GEN
T1 - Momentum distribution in a space manipulator for facilitating the post-impact control
AU - Dimitrov, Dimitar Nikolaev
AU - Yoshida, Kazuya
PY - 2004/12/1
Y1 - 2004/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:14044272267
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 3345
EP - 3350
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -