Title :
Stabilization of the shape of space multibody structure with free joints
Author :
Nakamura, Yoshihiko ; Iwamoto, Ryuji
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
As a large-scale space structure, the authors propose a space multibody structure that consists of many relatively small bodies mutually connected by passive joints. They assume that one of the 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. The authors analyze the dynamics of nonholonomic behavior of the structure and propose a control scheme to stabilize its shape
Keywords :
aerospace control; control momentum wheels; dynamics; elasticity-induced vibration; free joints; large-scale space structure; mutually connected bodies; nonholonomic behavior; orientation-control device; passive joints; shape stabilization; space multibody structure; Control systems; Joining processes; Large-scale systems; Manipulators; Mobile robots; Orbital robotics; Shape control; Torque control; Vibration control; Wheels;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583919
