Title :
Space multibody structure connected with free joints and its shape control
Author :
Nakamura, Yoshihiko ; Iwamoto, Ryuji
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
As a large-scale space structure, we propose a space multibody structure that consists of many relatively small bodies mutually connected with passive joints. We assume that one of bodies is equipped with an orientation-control device such as control momentum wheels. Being free from elasticity-induced vibration is an advantage of the structure. In this paper, we analyze the dynamics of nonholonomic behavior of the structure and propose a control scheme to stabilize its shape
Keywords :
distributed parameter systems; large-scale systems; spatial variables control; stability; Space multibody structure; control momentum wheels; elasticity-induced-vibration freedom; free joints; large-scale Space structure; nonholonomic behavior dynamics; orientation-control device; passive joints; shape control; shape stabilization; Angular velocity; Control systems; Equations; Large-scale systems; Mobile robots; Orbital robotics; Shape control; Space technology; Torque; Wheels;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325779
