An approach to classification, analysis and feedback control of kinematic drift in free-floating manipulators

Author

Kapitanovsky, A. ; Goldenberg, A. ; Mills, J.

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

fYear

1994

fDate

8-13 May 1994

Firstpage

83

Abstract

In this paper, a new design of smooth dynamic feedback is proposed that compensates for kinematic drift in motion of a nonholonomic system. The technique is applied to a space-based free-flying manipulator in order to compensate for attitude drift. The proposed drift compensation technique is based on our design of the smooth time-variant dynamic feedback for stabilization of a nonholonomic system. We also present a classification and analysis of various cases of the kinematic drift. Example and numerical simulation are provided for illustration

Keywords

aerospace control; attitude control; compensation; feedback; manipulator kinematics; stability; aerospace control; attitude drift compensation; classification; feedback control; free-floating manipulators; kinematic drift; nonholonomic system; space-based free-flying manipulator; stabilization; time-variant dynamic feedback; Control system analysis; Control systems; Controllability; Equations; Feedback control; Kinematics; Manipulator dynamics; Orbital robotics; Space vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351006

Filename

351006