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
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;
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
DOI :
10.1109/ISSCAA.2008.4776179
