DocumentCode
3454583
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
Volume
3
fYear
1993
fDate
26-30 Jul 1993
Firstpage
2095
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1993.583919
Filename
583919
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