NDLI: Control of underactuated free floating robots in space

Content Provider	IEEE Xplore Digital Library
Author	Hai-Long Pei Yangsheng Xu
Copyright Year	1998
Description	Author affiliation: Dept. of Autom., South China Univ. of Technol., Guangzhou, China (Hai-Long Pei)
Abstract	The underactuated free floating robot in space is a nonlinear system where velocity and acceleration constraints are both nonintegrable, therefore it is a second-order nonholonomic system. Some of the existing nonholonomic control methods will not be directly applicable to such systems as it is extremely difficult, if not impossible, to find the control Lie brackets. In this paper, by investigating the system dynamics in depth, we propose a simple velocity-based method to control the unactuated joints and a multistep composite strategy to implement orientation tracking tasks. The proposed algorithm is of significance in controlling of space robots when some joints fail to function, or they are intentionally set to be passive for energy efficiency and safety purposes.
Starting Page	1364
Ending Page	1369
File Size	518168
Page Count	6
File Format	PDF
ISBN	0780344650
DOI	10.1109/IROS.1998.727489
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-10-17
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Control systems Torque control Automatic control Robotics and automation Velocity control Space technology Robot kinematics Space vehicles Acceleration
Content Type	Text
Resource Type	Article

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