DocumentCode
488935
Title
Failure Recovery Control for Space Robotic Systems
Author
Papadopoulos, Evangelos ; Dubowsky, Steven
Author_Institution
Massachusetts Institute of Technology, Cambridge, MA 02139
fYear
1991
fDate
26-28 June 1991
Firstpage
1485
Lastpage
1490
Abstract
The problem of controlling a failed joint of a space manipulator is addressed. It is shown that failure recovery control may be possible when dynamic coupling exists between the link whose joint has failed and some other link whose joint is working, and when the system inertia matrix is invariant with respect to the failed joint angle. A failure recovery control technique is developed and applied to two simple examples.
Keywords
Control systems; Controllability; Light rail systems; Manipulator dynamics; Motion control; Open systems; Orbital robotics; Robot control; Space technology; Space vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791629
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