Torque Unit Manipulator Driven by Control Moment Gyros

Research output: Contribution to journalArticle

Abstract

This paper deals with a space manipulator which is called Torque-Unit-Manipulator (TUM) : TUM separates its actuator called torque unit from its joints; i.e., torque unit is placed on an arbitrary place on a link, and each rotational joint is a free joint. The TUM proposed in the previous work, however, is driven by reaction wheels, and thus it has a problem to be solved : the angular velocity of the reaction wheel may saturate when external force disturbs the posture of the TUM repeatedly. The reason is that the reaction wheels accumulate angular momentum during the maneuver because of non-holonomic constraint for the free joints. Therefore, TUM driven by Control Moment Gyros (CMGs) is proposed in this paper. For the proposed TUM, an asymptotically stable controller can be designed through Lyapunov's approach, and besides the gimbal angular velocity of the CMG returns to zero after each maneuver. The dynamics of the proposed TUM is computed in numerical simulation, and the effectiveness of the designed controller is shown.

Original languageEnglish
Pages (from-to)4292-4298
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number627
DOIs
Publication statusPublished - Jan 1 1998

Fingerprint

Manipulators
Torque
Wheels
Angular velocity
Controllers
Angular momentum
Actuators
Computer simulation

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

@article{70516f15af0b4a51ae6466d2607a6a28,
title = "Torque Unit Manipulator Driven by Control Moment Gyros",
abstract = "This paper deals with a space manipulator which is called Torque-Unit-Manipulator (TUM) : TUM separates its actuator called torque unit from its joints; i.e., torque unit is placed on an arbitrary place on a link, and each rotational joint is a free joint. The TUM proposed in the previous work, however, is driven by reaction wheels, and thus it has a problem to be solved : the angular velocity of the reaction wheel may saturate when external force disturbs the posture of the TUM repeatedly. The reason is that the reaction wheels accumulate angular momentum during the maneuver because of non-holonomic constraint for the free joints. Therefore, TUM driven by Control Moment Gyros (CMGs) is proposed in this paper. For the proposed TUM, an asymptotically stable controller can be designed through Lyapunov's approach, and besides the gimbal angular velocity of the CMG returns to zero after each maneuver. The dynamics of the proposed TUM is computed in numerical simulation, and the effectiveness of the designed controller is shown.",
author = "Shinji Hokamoto",
year = "1998",
month = "1",
day = "1",
doi = "10.1299/kikaic.64.4292",
language = "English",
volume = "64",
pages = "4292--4298",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "The Japan Society of Mechanical Engineers",
number = "627",

}

TY - JOUR

T1 - Torque Unit Manipulator Driven by Control Moment Gyros

AU - Hokamoto, Shinji

PY - 1998/1/1

Y1 - 1998/1/1

N2 - This paper deals with a space manipulator which is called Torque-Unit-Manipulator (TUM) : TUM separates its actuator called torque unit from its joints; i.e., torque unit is placed on an arbitrary place on a link, and each rotational joint is a free joint. The TUM proposed in the previous work, however, is driven by reaction wheels, and thus it has a problem to be solved : the angular velocity of the reaction wheel may saturate when external force disturbs the posture of the TUM repeatedly. The reason is that the reaction wheels accumulate angular momentum during the maneuver because of non-holonomic constraint for the free joints. Therefore, TUM driven by Control Moment Gyros (CMGs) is proposed in this paper. For the proposed TUM, an asymptotically stable controller can be designed through Lyapunov's approach, and besides the gimbal angular velocity of the CMG returns to zero after each maneuver. The dynamics of the proposed TUM is computed in numerical simulation, and the effectiveness of the designed controller is shown.

AB - This paper deals with a space manipulator which is called Torque-Unit-Manipulator (TUM) : TUM separates its actuator called torque unit from its joints; i.e., torque unit is placed on an arbitrary place on a link, and each rotational joint is a free joint. The TUM proposed in the previous work, however, is driven by reaction wheels, and thus it has a problem to be solved : the angular velocity of the reaction wheel may saturate when external force disturbs the posture of the TUM repeatedly. The reason is that the reaction wheels accumulate angular momentum during the maneuver because of non-holonomic constraint for the free joints. Therefore, TUM driven by Control Moment Gyros (CMGs) is proposed in this paper. For the proposed TUM, an asymptotically stable controller can be designed through Lyapunov's approach, and besides the gimbal angular velocity of the CMG returns to zero after each maneuver. The dynamics of the proposed TUM is computed in numerical simulation, and the effectiveness of the designed controller is shown.

UR - http://www.scopus.com/inward/record.url?scp=85024463133&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85024463133&partnerID=8YFLogxK

U2 - 10.1299/kikaic.64.4292

DO - 10.1299/kikaic.64.4292

M3 - Article

AN - SCOPUS:85024463133

VL - 64

SP - 4292

EP - 4298

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 627

ER -