Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque

Tomohisa Oki; Hiroki Nakanishi; Kazuya Yoshida

doi:10.1109/IROS.2008.4650835

Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque

Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida

ENG - Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Citations (Scopus)

Abstract

This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation of the wheels should be considered in order to realize zero base rotation of the robot. In this paper, a time-optimal control strategy of a free-floating space robot is discussed considering an arbitrary prescribed path for the manipulator hand and the dynamic constraints on reaction torque. The strategy is verified by numerical simulation with a free-floating space robot model equipped with a 7DOF (degrees-of-freedom) manipulator and a sytem of three reaction wheels.

Original language	English
Title of host publication	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	2828-2833
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2008.4650835
Publication status	Published - 2008 Dec 1
Event	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: 2008 Sep 22 → 2008 Sep 26

Publication series

Name	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country	France
City	Nice
Period	08/9/22 → 08/9/26

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IROS.2008.4650835

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Oki, T., Nakanishi, H., & Yoshida, K. (2008). Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2828-2833). [4650835] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650835

Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque. / Oki, Tomohisa; Nakanishi, Hiroki; Yoshida, Kazuya.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2828-2833 4650835 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Oki, T, Nakanishi, H & Yoshida, K 2008, Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650835, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 2828-2833, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 08/9/22. https://doi.org/10.1109/IROS.2008.4650835

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