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.
|Number of pages||8|
|Publication status||Published - 1994|
|Event||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger|
Duration: 1994 Sep 12 → 1994 Sep 16
|Other||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)|
|Period||94/9/12 → 94/9/16|
ASJC Scopus subject areas