Title :
On the nature of control algorithms for space manipulators
Author :
Papadopoulos, Evangelos ; Dubowsky, Steven
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
A study of the characteristics of control algorithms that can be applied to the motion control of space manipulators is reported. The results obtained show that nearly any control algorithm that can be applied to conventional terrestrial fixed-base manipulators, with a few additional conditions, can be directly applied to free-floating space manipulators. Barycenters are used to formulate efficiently the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis
Keywords :
aerospace control; mobile robots; position control; control algorithms; free-floating space manipulators; motion control; Algorithm design and analysis; Control systems; Equations; Fuels; Kinematics; Manipulator dynamics; Motion control; Space missions; Space technology; Space vehicles;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126142
