宇宙ロボットの多腕協調制御 : (スタビライジング・アームの利用による制御トルクの最適化)

概要

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This paper investigates a coordinate control of multiple manipulators in space robots. The authors firstly derive the generalized Jacobian matrix and equation of motion for a space robot with multiple arms, then develop a method optimizing the sum of squared control torque in the sence of local (instantaneous) minimization by means of redundancy. The method is applied to a realistic model installing with a mission arm, a stbilizing arm and reaction wheels. The simulation results show the effectiveness of the presented coordinated control method with assistance of the stabilizing arm. This paper concluds that the installation and utilization of such redundant arm as the stabilizing arm makes a good hardware configuration and of great importance from the view point of satellite attitude controller design.