Position/Attitude Control for a Ground Testbed Simulating a Space Robot.
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- Senda Kei
- College of Engineering, Osaka Prefecture University
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- Murotsu Yoshisada
- College of Engineering, Osaka Prefecture University
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- Nagaoka Hideyuki
- Graduate Student, Osaka Prefecture University
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- Mitsuya Akira
- College of Engineering, Osaka Prefecture University
Bibliographic Information
- Other Title
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- 宇宙ロボット実験システムのための位置姿勢制御
- ウチュウ ロボット ジッケン システム ノ タメ ノ イチ シセイ セイギョ
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Abstract
A hardware satellite model with thrusters and a control moment gyro (CMG) is constructed to discuss position/attitude control methods for a ground testbed simulating a space robot. A bang-bang position control and two attitude control methods, i.e., a Lyapunov-type controller and an exact-linearization-based controller, are designed. Hardware experiments as well as numerical simulations show the feasibility of the modeling and the controllers. It is also shown that the developed position/attitude control system has enough performance for the ground testbed.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 16 (6), 824-831, 1998
The Robotics Society of Japan
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Details
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- CRID
- 1390001204727094016
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- NII Article ID
- 10002864483
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4545730
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- Text Lang
- ja
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- Data Source
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- JaLC
- IRDB
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed