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A reaction-null/Jac...
A reaction-null/Jacobian transpose control strategy with gravity gradient compensation for on-orbit space manipulators
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- Pisculli, Andrea (författare)
- University of Rome la Sapienza, Dipartimento di Ingegneria Meccanica e Aeronautica (DIMA), University of Rome la Sapienza
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- Felicetti, Leonard (författare)
- Dipartimento di Ingegneria Astronautica Elettrica Ed Energetica (DIAEE)
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- Gasbarri, Paolo (författare)
- University of Rome la Sapienza, Dipartimento di Ingegneria Meccanica e Aeronautica (DIMA), University of Rome la Sapienza
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- Palmerini, Giovanni B. (författare)
- Sapienza Università di Roma, Dipartimento di Ingegneria Astronautica Elettrica Ed Energetica (DIAEE)
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- Sabatini, Marco (författare)
- University of Rome la Sapienza, Dipartimento di Ingegneria Astronautica Elettrica Ed Energetica (DIAEE)
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(creator_code:org_t)
- Elsevier BV, 2014
- 2014
- Engelska.
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Ingår i: Aerospace Science and Technology. - : Elsevier BV. - 1270-9638 .- 1626-3219. ; 36, s. 30-40
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- The dynamics and the control of space manipulators floating in 3D space is analyzed in this paper. A minimum state variable approach for describing the dynamics of a free-floating space manipulator under gravity and gravity gradient forces is presented. A new control strategy involving a combination of Reaction Null and Jacobian Transpose controllers, including also the gravity gradient compensation, is suggested and compared with the Jacobian Transpose control and the conventional Proportional Derivative control. Several numerical examples will be presented and discussed, considering platforms with single and double manipulators, showing the advantages and drawbacks related to these control strategies.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Onboard space systems
- Rymdtekniska system
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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