Title :
A control scheme for the reduction of thruster-manipulator interactions in space robotic systems
Author :
Martin, E. ; Papadopoulos, E. ; Angeles, J.
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
Space manipulators mounted on an on-off thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link flexibility become important, for they can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamics model of an N-flexible-joint space manipulator is developed. The model of a three-flexible-joint manipulator mounted on a six-degree-of-freedom spacecraft is used to compare three different on-off thruster attitude control systems. Two variations of a classical control scheme are suggested to minimize such undesirable dynamic interactions, as well as thruster fuel consumption
Keywords :
aerospace robotics; attitude control; flexible manipulators; fuel optimal control; manipulator dynamics; 6-DOF spacecraft; Space robotic systems; Space structures; control scheme; dynamic interaction minimization; flexible-joint Space manipulator; manipulator joint flexibility; manipulator link flexibility; on-off thruster attitude control systems; on-off thruster-controlled base; payload-attitude controller fuel-replenishing dynamic interactions; thruster fuel consumption minimization; thruster-manipulator interaction reduction; Assembly systems; Control systems; Fuels; Intelligent robots; Manipulator dynamics; Mechanical engineering; Orbital robotics; Payloads; Robotic assembly; Space vehicles;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727487
