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

Research output: Contribution to conferencePaperpeer-review

Abstract

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 the angular momentum conservation in floating multi-link systems, practical schemes which requires 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.

Original languageEnglish
Pages1578-1585
Number of pages8
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: 1994 Sep 121994 Sep 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • Engineering(all)

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