Numerical simulation of a space manipulator control for satellite retrieval

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Numerical simulation of a space manipulator control for satellite retrieval

Ninomiya, K. / Nakatani, I. / Kawaguchi, J. / Harima, K. / Tsuchiya, K. / Inoue, M. / Yamada, K.

A mission scenario of a satellite retrieval experiment using a manipulator on Space Flyer Unit has been presented. One of the significant features of the space manipulator is that the base is not fixed, but makes a translational and rotational motion during manipulator operations. Manipulator control scheme for the experiment has been given for a movable base in space. Numerical simulation has been conducted to confirm the validity of the control method. It is found, in the present stage, that the resolved acceleration control works well even when the mass and Jacobian matrices for the manipulator on the ground are used. We are now in the process of refining the control law for the practical use. A ground based 6-degrees-of-freedom simulator technique has also been presented. We are now conducting a physical simulation using this test facility. (in Band: Robot control. Theory and applications)

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Dokumentinformationen

Titel :

Numerical simulation of a space manipulator control for satellite retrieval

Weitere Titelangaben:

Numerische Simulation einer Steuerung eines Weltraummanipulators fuer Satellitenwiedereinfang

Beteiligte:

Ninomiya, K. (Autor:in) / Nakatani, I. (Autor:in) / Kawaguchi, J. (Autor:in) / Harima, K. (Autor:in) / Tsuchiya, K. (Autor:in) / Inoue, M. (Autor:in) / Yamada, K. (Autor:in)

Erschienen in:

IEE Control Engineering Series ; 109-116

Erscheinungsdatum :

1988

Format / Umfang :

8 Seiten, 9 Bilder, 2 Tabellen, 5 Quellen

Medientyp :

Report

Format :

Sprache :

Englisch

Schlagwörter :