DocumentCode
2636342
Title
Pre-impact configuration planning for capture object of space manipulator
Author
Cong Pei-chao ; Sun Zhao-Wei
Author_Institution
Res. Center of Satellite Technol., Harbin Inst. of Technol., Harbin
fYear
2008
fDate
10-12 Dec. 2008
Firstpage
1
Lastpage
6
Abstract
A concept ldquostraight-arm capturerdquo and a method of configuration planning are proposed, which are based on the momentum conservation of space manipulator. The configuration satisfies the proposed method can reduce the coupling angular momentum, joint angular velocity and the burden of compound control, then avoids the limit of joint velocity and torque when control the compound. Finally the simulation results show that the effectiveness of the method.
Keywords
aerospace robotics; manipulators; configuration planning; coupling angular momentum; preimpact configuration planning; space manipulator; straight-arm capture; Angular velocity control; Manipulator dynamics; Motion control; Satellites; Space missions; Space shuttles; Space stations; Space technology; Technology planning; Torque control; Space manipulator; coupling angular momentum; planning; straight-arm capture;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on
Conference_Location
Shenzhen
Print_ISBN
978-1-4244-3908-9
Electronic_ISBN
978-1-4244-2386-6
Type
conf
DOI
10.1109/ISSCAA.2008.4776179
Filename
4776179
Link To Document