TY - GEN
T1 - Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque
AU - Oki, Tomohisa
AU - Nakanishi, Hiroki
AU - Yoshida, Kazuya
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2008.4650835
DO - 10.1109/IROS.2008.4650835
M3 - Conference contribution
AN - SCOPUS:69549108969
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2828
EP - 2833
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -