DocumentCode
2522112
Title
Space manipulator motions with no satellite attitude disturbances
Author
Vafa, Z.
Author_Institution
GE Corporate Res. & Dev., Schenectady, NY, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
1770
Abstract
An algorithm that eliminates the satellite attitude disturbances due to manipulator motions is presented. This algorithm is analyzed for a 9-DOF (degree of freedom) and a 6-DOF manipulator. It is shown that both of the manipulators´ motions will not result in satellite attitude disturbances. The 9-DOF redundant manipulator end-effector can go through any path with any desired orientation. The 6-DOF manipulator can only go through a desired path, and its end-effector orientation changes according to the manipulator dynamics
Keywords
aerospace control; artificial satellites; attitude control; robots; aerospace control; artificial satellites; dynamics; end-effector orientation; robots; satellite attitude disturbances; space manipulator motions; Artificial satellites; Attitude control; Communication system control; End effectors; Equations; Kinematics; Manipulator dynamics; Space vehicles; Vehicle dynamics; Virtual manufacturing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126265
Filename
126265
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