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The control of space manipulators subject to spacecraft attitude control saturation limits
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Vance, E. E. Torres, M. A. Dubowsky, S. |
| Copyright Year | 1989 |
| Description | The motions of robotic manipulators mounted on spacecraft can disturb the spacecraft's positions and attitude. These disturbances can surpass the ability of the system's attitude control reaction jets to control them, for the disturbances increase as manipulator speeds increase. If the manipulator moves too quickly the resulting disturbances can exceed the saturation levels of the reaction jets, causing excessive spacecraft motions. A method for planning space manipulator's motions is presented, so that tasks can be performed as quickly as possible without saturating the system's attitude control jets. |
| File Size | 514368 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900020555 |
| Archival Resource Key | ark:/13960/t46q6vj56 |
| Language | English |
| Publisher Date | 1989-01-31 |
| Access Restriction | Open |
| Subject Keyword | Man/system Technology And Life Support Controllers Robot Arms Jet Control Attitude Control Jet Thrust Motion Simulation Spacecraft Control Manipulators Dynamic Models Mathematical Models Robot Dynamics Loads Forces Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
