### 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 language | English |
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Pages | 272-277 |

Number of pages | 6 |

Publication status | Published - Jan 1 1998 |

Event | Guidance, Navigation, and Control Conference and Exhibit, 1998 - Boston, United States Duration: Aug 10 1998 → Aug 12 1998 |

### Other

Other | Guidance, Navigation, and Control Conference and Exhibit, 1998 |
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Country | United States |

City | Boston |

Period | 8/10/98 → 8/12/98 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Aerospace Engineering
- Control and Systems Engineering
- Electrical and Electronic Engineering

### Cite this

*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.

Research output: Contribution to conference › Paper

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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.

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M3 - Paper

AN - SCOPUS:84959081140

SP - 272

EP - 277

ER -