衛星搭載型冗長マニピュレータの加速度レベル制御
スポンサーリンク
概要
- 論文の詳細を見る
This paper concerns motion control of redundant manipulators on spacecraft at the acceleration level. Acceleration-level control of redundant manipulators often causes the peculiar problems such as the instability of local torque optimization and the end-motion joint velocities. One of the solutions to the problems is the acceleration-level control based on a velocity-level control method, which is derived from time differential of a velocity-level solution guaranteed not to cause the problems. In this paper, a new acceleration-level control method is proposed, which accomplishes the end-effector operation as a primary task and minimizes the disturbance on the satellite attitude as a secondary task. Numerical examples verify its superiority over other acceleration-level control methods and apply it to control for capturing a drifting target.
- 社団法人 日本航空宇宙学会の論文
- 2002-01-05