TY - GEN
T1 - Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite
AU - Oki, Tomohisa
AU - Abiko, Satoko
AU - Nakanishi, Hiroki
AU - Yoshida, Kazuya
PY - 2011
Y1 - 2011
N2 - This study addresses a time-optimal control of a free-floating space robot to stabilize a tumbling target satellite while paying attention to: 1) limitations on the grasping force and torque, 2) detumbling operation along an arbitrary arm motion, and 3) parameter uncertainty in the target satellite, by parameterizing the manipulator hand motion. The concept of detumbling speed, determines the optimal control input and is also advantageous when handling dynamics parameter uncertainty in the target satellite.
AB - This study addresses a time-optimal control of a free-floating space robot to stabilize a tumbling target satellite while paying attention to: 1) limitations on the grasping force and torque, 2) detumbling operation along an arbitrary arm motion, and 3) parameter uncertainty in the target satellite, by parameterizing the manipulator hand motion. The concept of detumbling speed, determines the optimal control input and is also advantageous when handling dynamics parameter uncertainty in the target satellite.
UR - http://www.scopus.com/inward/record.url?scp=84455160871&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455160871&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048758
DO - 10.1109/IROS.2011.6048758
M3 - Conference contribution
AN - SCOPUS:84455160871
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 625
EP - 630
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -