Pre-impact Configuration Planning for Capture Object of Space Manipulator

摘要：

A concept “Straight-Arm Capture and a method of configuration planning are proposed, which are based on the momentum conservation of space manipulator. The configuration satisfies the proposed method can reduce the coupling angular momentum, joint angular velocity and the burden of compound control, then avoids the limit of joint velocity and torque when control the compound. Finally the simulation results show that the effectiveness of the method.

关键词： Space manipulator straight-arm capture planning coupling angular momentum

作者: CONG Pei-chao SUN Zhao-wei

作者单位: Research Center of Satellite Technology Harbin Institute of Technology Harbin 150080,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 239-244

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）