Coordinated control of spacecraft’s attitude and end-effector for space robots
Coordinated control of spacecraft’s attitude and end-effector for space robots
- New search for: Giordano, Alessandro Massimo
- Further information on Giordano, Alessandro Massimo:
-
https://orcid.org/0000-0003-2291-7525
- New search for: Ott, Christian
- Further information on Ott, Christian:
-
https://orcid.org/0000-0003-0987-7493
- New search for: Albu-Schäffer, Alin
- Further information on Albu-Schäffer, Alin:
-
https://orcid.org/0000-0001-5343-9074
- New search for: Giordano, Alessandro Massimo
- Further information on Giordano, Alessandro Massimo:
-
https://orcid.org/0000-0003-2291-7525
- New search for: Ott, Christian
- Further information on Ott, Christian:
-
https://orcid.org/0000-0003-0987-7493
- New search for: Albu-Schäffer, Alin
- Further information on Albu-Schäffer, Alin:
-
https://orcid.org/0000-0001-5343-9074
This letter addresses the coordinated control of the spacecraft’s attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft’s attitude, the global center-of-mass, and the end-effector pose. The control is based on a triangular actuation decomposition that decouples the end-effector task from the spacecraft’s force actuator, increasing fuel efficiency. The strategy is validated in hardware using a robotic motion simulator com- posed of a seven degrees-of-freedom (DOF) arm mounted on a six DOF base. The tradeoff between control requirements and fuel consumption is discussed.
Document information
Coordinated control of spacecraft’s attitude and end-effector for space robots
2019
Article (Journal)
Electronic Resource
English
Similar titles
Attitude and Control Spacecraft's Simulator
| AIAA | 2004
Control and Simulation of Spacecraft's Attitude Control Based on Quaternions
| Trans Tech Publications | 2013
Spacecraft’s attitude prediction: solar radiation torque and the Earth’s shadow
| British Library Conference Proceedings | 2005