On the capture of tumbling satellite by a space robot

被引：70
作者：
Yoshida, Kazuya [1 ]
Dimitrov, Dimitar [1 ]
Nakanishi, Hiroki [1 ]
机构：
[1] Tohoku Univ, Dept Aerosp Engn, Sendai, Miyagi 980, Japan
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
D O I：
10.1109/IROS.2006.281900
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation before and after the contact with the target is discussed from the viewpoint of angular momentum distribution. By using the bias momentum approach during the approaching phase, impedance control during the impact, and distributed momentum control during the post-impact phase, we propose a possible control sequence for the successful completion of a capturing operation.
引用
收藏
页码：4127 / +
页数：2
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