Time-optimal manipulator control for management of angular momentum distribution during the capture of a tumbling target

Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida

研究成果: Article査読

17 被引用数 (Scopus)

抄録

This paper deals with management problems of angular momentum distribution during the capture of a tumbling target by a free-floating space robot with constraints on the torque and angular momentum that the reaction wheels of the robot are able to output to suppress rotational motion of the robot base. A time-optimal control of the manipulator arm during the approaching phase of the capturing mission and an estimation method to minimize the base rotation after the manipulator captures the tumbling target are proposed in order to realize desirable angular momentum distribution of the entire system. The proposed strategy is verified by numerical simulation with a free-floating space robot model equipped with a 7-d.o.f. manipulator and a system of three reaction wheels.

本文言語English
ページ(範囲)441-466
ページ数26
ジャーナルAdvanced Robotics
24
3
DOI
出版ステータスPublished - 2010 2 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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