Abstract
This paper addresses the trajectory planning problem for robotic manipulators mounted on a free-floating base satellite. The motion planning is formulated as an optimization problem from viewpoint of angular momentum distribution among the manipulator arm and the system of reaction wheels. This approach determines what momentum redistribution should be performed in order for the manipulator system to satisfy given constraint conditions. The case when only the manipulator joints are actuated is considered. No base attitude compensation via thrusters is necessary. The utilization of the Distributed Momentum Control (DMC) in combination with the trajectory generated by the optimization procedure ensures a minimal base attitude deviation during the approach to a target satellite.
| Original language | English |
|---|---|
| Pages (from-to) | 157-164 |
| Number of pages | 8 |
| Journal | European Space Agency, (Special Publication) ESA SP |
| Issue number | 603 |
| Publication status | Published - 2005 Dec 15 |
| Event | i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space - Munich, Germany Duration: 2005 Sep 5 → 2005 Sep 8 |
ASJC Scopus subject areas
- Aerospace Engineering
- Space and Planetary Science