弦下端に取付けられた剛体系の姿勢制御(機械力学,計測,自動制御)

概要

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Applications of mechanical systems of a string with a rigid bodies subsystem at its lower end have various possibilities for the engineering in extreme environment conditions, for example, in space or deep sea. This rigid bodies subsystem can be used as a robot subsystem. This paper discusses about modeling of the system and attitude control of the rigid bodies subsystem, especially around an equilibrium point of the system. This control technique is consists of attitude control with reaction wheels and angular momentum control with manipulation of a rigid bodies subsystem, based on information of attitude and angular momentum of the rigid bodies subsystem. In order to confirm the effectiveness of the control approach, numerical simulations have been done, under the condition that the shape of the string is described by the finite-element formulation, selecting a linear interpolation.
一般社団法人日本機械学会の論文
2001-12-25