Trajectory control of flexible manipulators on a free-flying space robot

Author

Murotsu, Yoshisada ; Tsujio, Showzow ; Senda, Kei ; Hayashi, Masato

Author_Institution

Univ. of Osaka Prefecture, Japan

Volume

12

Issue

3

fYear

1992

fDate

6/1/1992 12:00:00 AM

Firstpage

51

Lastpage

57

Abstract

A space robot consisting of a satellite main body that flies freely and manipulators that have structural flexibility is considered. The position and orientation of the satellite main body may change when the manipulators move. Motions of the space robots also induce vibrating motions of the structurally flexible manipulators. The control schemes used are the virtual rigid manipulator, pseudo-resolved acceleration control, and composite control. A singular perturbation strategy is applied, and the stability of the controls is examined. Numerical examples are given.<>

Keywords

acceleration control; aerospace control; position control; robots; stability; acceleration control; aerospace control; artificial satellite; composite control; flexible manipulators; free-flying space robot; orientation; position control; singular perturbation; stability; trajectory control; vibrating motions; Manipulator dynamics; Mathematical model; Motion control; Orbital robotics; Orbits; Robot kinematics; Robust stability; Satellites; Shape control; Target tracking;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.165517

Filename

165517