Utilization of Distributed Momentum Control for planning approaching trajectories of a space manipulator to a target satellite

Dimitar N. Dimitrov; Kazuya Yoshida

Utilization of Distributed Momentum Control for planning approaching trajectories of a space manipulator to a target satellite

Dimitar N. Dimitrov, Kazuya Yoshida

ENG - Aerospace Engineering

Research output: Contribution to journal › Conference article › peer-review

3 Citations (Scopus)

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

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title = "Utilization of Distributed Momentum Control for planning approaching trajectories of a space manipulator to a target satellite",

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.",

author = "Dimitrov, {Dimitar N.} and Kazuya Yoshida",

year = "2005",

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T1 - Utilization of Distributed Momentum Control for planning approaching trajectories of a space manipulator to a target satellite

AU - Dimitrov, Dimitar N.

AU - Yoshida, Kazuya

PY - 2005/12/15

Y1 - 2005/12/15

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:28744452606

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EP - 164

JO - European Space Agency, (Special Publication) ESA SP

JF - European Space Agency, (Special Publication) ESA SP

SN - 0379-6566

IS - 603

T2 - i- SAIRAS 2005 - The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space

Y2 - 5 September 2005 through 8 September 2005

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