Attitude control of a space robot using the nonholonomic structure

Koichi Matsuda, Yoichi Kanemitsu, Shinya Kijimoto

研究成果: 会議への寄与タイプ学会誌査読

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ272-277
ページ数6
DOI
出版ステータス出版済み - 1998
イベントGuidance, Navigation, and Control Conference and Exhibit, 1998 - Boston, 米国
継続期間: 8月 10 19988月 12 1998

その他

その他Guidance, Navigation, and Control Conference and Exhibit, 1998
国/地域米国
CityBoston
Period8/10/988/12/98

!!!All Science Journal Classification (ASJC) codes

  • 電子工学および電気工学
  • 航空宇宙工学
  • 制御およびシステム工学

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