Title :
Space manipulator motions with no satellite attitude disturbances
Author_Institution :
GE Corporate Res. & Dev., Schenectady, NY, USA
Abstract :
An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators´ motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics
Keywords :
aerospace control; artificial satellites; attitude control; robots; aerospace control; artificial satellites; dynamics; end-effector orientation; robots; satellite attitude disturbances; space manipulator motions; Artificial satellites; Attitude control; Communication system control; End effectors; Equations; Kinematics; Manipulator dynamics; Space vehicles; Vehicle dynamics; Virtual manufacturing;
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.1990.126265
