233 把持による質量変化を考慮した宇宙マニピュレータの制御トルク低減化(宇宙構造物・飛翔体の制御III)(OS 宇宙構造物・飛翔体の制御)

概要

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This paper proposes a method of energy efficient trajectory control for free-flying space manipulators. The proposed method reduces control torque in the manipulation by using redundant degrees of freedom in the manipulator motion. The required torque is reduced by controlling the major axis of the dynamic manipulability ellipsoid (DME) to the direction of the desired end-effector motion as close as possible. A numerical example is given for a model of planer 3-link space manipulator to show the feasibility of the present local control algorithm. This paper also investigates the influence of various mass distribution due to the added mass at the endeffector.
社団法人日本機械学会の論文
2001-04-20