本体の姿勢変動を抑える宇宙マニピュレータの軌道計画

概要

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Motions of a space manipulator cause dynamic disturbances to the spacecraft attitude. This paper proposes a method of path planning for space manipulators to reduce such dynamic disturbances. The method is based on the concept of the Enhanced Disturbance Map where the direction of joint movements that causes zero disturbance to the spacecraft attitude is given in the joint space. In this paper, this approach is applied to the path planning of space manipulators. The proposed method determines the direction of small joint movements at each step that causes zero atteitude disturbance and moves the end effector toward a desired position. The path planning algorithms are presented first for the case of non-redundandant DOF space manipulators and, then, for redundant DOF space manipulators. The present method also avoids the singular points in the joint space by means of the singularity low-sensitive motion resolution method. Results of numerical simulations are presented for a two-link planner space manipulator system and for a three-link redundant system.
一般社団法人日本機械学会の論文
1999-09-25