NDLI: Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque

Content Provider	IEEE Xplore Digital Library
Author	Oki, T. Nakanishi, H. Yoshida, K.
Copyright Year	2008
Description	Author affiliation: Dept. of Aerosp. Eng., Tohoku Univ., Sendai (Oki, T.; Nakanishi, H.; Yoshida, K.)
Abstract	This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation of the wheels should be considered in order to realize zero base rotation of the robot. In this paper, a time-optimal control strategy of a free-floating space robot is discussed considering an arbitrary prescribed path for the manipulator hand and the dynamic constraints on reaction torque. The strategy is verified by numerical simulation with a free-floating space robot model equipped with a 7DOF (degrees-of-freedom) manipulator and a system of three reaction wheels.
Starting Page	2828
Ending Page	2833
File Size	465391
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650835
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Torque Mobile robots Equations Manipulators Wheels Acceleration
Content Type	Text
Resource Type	Article

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