Feedback control of space robot attitude by cyclic arm motion

被引：13
|
作者：
Yamada, K
Yoshikawa, S
机构：
[1] Mitsubishi Electric Corporation, Electromechanical Systems Department, Advanced Technology R and D Center, Amagasaki, Hyogo 661, 8-1-1, Tsukaguchi-Honmachi
来源：
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 1997年 / 20卷 / 04期
关键词：
D O I：
10.2514/2.4102
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
A method of controlling the attitude of a space robot using its arm motion is considered. The proposed method can make a large attitude change by the cyclic motion of the arm. First the arm path is planned based on the small attitude change when the arm moves along a closed path. Then the path is modified by feeding back the attitude error during the arm motion. Numerical simulations have been executed to verify the feedback law using a space robot model with an arm with six degrees of freedom.
引用
收藏
页码：715 / 720
页数：6
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