Attitude control of a free-flying space robot (1st report, feedfoward control with thruster)

被引：0

作者：

Kobayashi, Nobuyuki

Saito, Osamu

Nonami, Kenzo

机构：

来源：

Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 1993年 / 59卷 / 561期

关键词：

Algorithms - Equations of motion - Manipulators - Mathematical models - Optimal control systems - Robots - Space applications - Torque;

D O I：

暂无

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学科分类号：

摘要：

An attitude control algorithm of a free-flying space robot with thrusters is proposed. It is known that the motion of the manipulator attached to the main body of a space robot causes the attitude deviation of the main body because of dynamic interaction, and an effective attitude control algorithm is desired. An equation of motion for the attitude of the space robot is derived using the Lagrange equation. The proposed disturbed-torque compensation algorithm, which is a kind of feedfoward control, is as follows. The inertia force, which is calculated from the equation of motion, is considered as the disturbance torque for the main body. Thrusters act to compensate the impulse of the disturbance torque. The proposed algorithm is compared with the time optimal control and time-fuel optimal control algorithms. Simulation results of attitude deviations and input energy are discussed.

引用

页码：129 / 134