Attitude control of a space robot using the nonholonomic structure

Koichi Matsuda, Yoichi Kanemitsu, Shinya Kijimoto

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

This paper treats the attitude control of a space robot using the fact that a free-flying space robot can reorient its attitude only by moving the manipulators. We solve an optimal control problem formulated in a more general way than those of the problems to have been solved so far. That is, our approach can afford to solve the case where the initial and final postures of the manipulators are different and where the solution could not be a smooth and continuous function of time. The optimal control problem is discretized by the rectangular rule into a mathematical programming problem to be solved by the periodically preconditioned conjugate gradient-restoration algorithm. A space-robot model with a multi-link manipulator is used to exemplify the present approach.

Original languageEnglish
Pages272-277
Number of pages6
Publication statusPublished - Jan 1 1998
EventGuidance, Navigation, and Control Conference and Exhibit, 1998 - Boston, United States
Duration: Aug 10 1998Aug 12 1998

Other

OtherGuidance, Navigation, and Control Conference and Exhibit, 1998
CountryUnited States
CityBoston
Period8/10/988/12/98

Fingerprint

Attitude control
Manipulators
Robots
Mathematical programming
Restoration

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Matsuda, K., Kanemitsu, Y., & Kijimoto, S. (1998). Attitude control of a space robot using the nonholonomic structure. 272-277. Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.

Attitude control of a space robot using the nonholonomic structure. / Matsuda, Koichi; Kanemitsu, Yoichi; Kijimoto, Shinya.

1998. 272-277 Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.

Research output: Contribution to conferencePaper

Matsuda, K, Kanemitsu, Y & Kijimoto, S 1998, 'Attitude control of a space robot using the nonholonomic structure' Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States, 8/10/98 - 8/12/98, pp. 272-277.
Matsuda K, Kanemitsu Y, Kijimoto S. Attitude control of a space robot using the nonholonomic structure. 1998. Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.
Matsuda, Koichi ; Kanemitsu, Yoichi ; Kijimoto, Shinya. / Attitude control of a space robot using the nonholonomic structure. Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.6 p.
@conference{669c0294862b44b0b32c07dee48b4549,
title = "Attitude control of a space robot using the nonholonomic structure",
abstract = "This paper treats the attitude control of a space robot using the fact that a free-flying space robot can reorient its attitude only by moving the manipulators. We solve an optimal control problem formulated in a more general way than those of the problems to have been solved so far. That is, our approach can afford to solve the case where the initial and final postures of the manipulators are different and where the solution could not be a smooth and continuous function of time. The optimal control problem is discretized by the rectangular rule into a mathematical programming problem to be solved by the periodically preconditioned conjugate gradient-restoration algorithm. A space-robot model with a multi-link manipulator is used to exemplify the present approach.",
author = "Koichi Matsuda and Yoichi Kanemitsu and Shinya Kijimoto",
year = "1998",
month = "1",
day = "1",
language = "English",
pages = "272--277",
note = "Guidance, Navigation, and Control Conference and Exhibit, 1998 ; Conference date: 10-08-1998 Through 12-08-1998",

}

TY - CONF

T1 - Attitude control of a space robot using the nonholonomic structure

AU - Matsuda, Koichi

AU - Kanemitsu, Yoichi

AU - Kijimoto, Shinya

PY - 1998/1/1

Y1 - 1998/1/1

N2 - This paper treats the attitude control of a space robot using the fact that a free-flying space robot can reorient its attitude only by moving the manipulators. We solve an optimal control problem formulated in a more general way than those of the problems to have been solved so far. That is, our approach can afford to solve the case where the initial and final postures of the manipulators are different and where the solution could not be a smooth and continuous function of time. The optimal control problem is discretized by the rectangular rule into a mathematical programming problem to be solved by the periodically preconditioned conjugate gradient-restoration algorithm. A space-robot model with a multi-link manipulator is used to exemplify the present approach.

AB - This paper treats the attitude control of a space robot using the fact that a free-flying space robot can reorient its attitude only by moving the manipulators. We solve an optimal control problem formulated in a more general way than those of the problems to have been solved so far. That is, our approach can afford to solve the case where the initial and final postures of the manipulators are different and where the solution could not be a smooth and continuous function of time. The optimal control problem is discretized by the rectangular rule into a mathematical programming problem to be solved by the periodically preconditioned conjugate gradient-restoration algorithm. A space-robot model with a multi-link manipulator is used to exemplify the present approach.

UR - http://www.scopus.com/inward/record.url?scp=84959081140&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84959081140&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:84959081140

SP - 272

EP - 277

ER -