Title :
Utilization of the bias momentum approach for capturing a tumbling satellite
Author :
Dimitrov, Dimitar Nikolaev ; Yoshida, Kazuya
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation after the contact with the target is discussed from the viewpoint of angular momentum distribution. A new capturing strategy utilizing bias momentum is introduced. By using the space of the coupling inertia matrix we present a method for angular momentum redistribution while following a desired trajectory.
Keywords :
aerospace robotics; angular momentum; angular velocity control; artificial satellites; attitude control; manipulators; angular momentum distribution; base attitude deviation; bias momentum; capturing strategy; coupling inertia matrix; space robot; tumbling satellite; Aerodynamics; Ellipsoids; Impedance; Inspection; Orbital robotics; Process planning; Satellites; Space debris; Space missions; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389931
