Space robot. Controllability of Free-Flying Space Robot.

• Funaki Michitaka

  Nagaoka University of Technology, Department of Mechanical

• Luo Zheng-Hua

  Nagaoka University of Technology, Department of Mechanical

Bibliographic Information

Other Title

• 宇宙ロボット　宇宙ロボットシステムの可制御性に関する一考察
• ウチュウ ロボット システム ノ カセイギョセイ ニ カンスル イチコウサツ

Abstract

In this paper, we consider a Free-Flying space Robot (FFR) on which no external forces or torques are exerted. We propose to control the orientation of the base of FFR by using only motion of the robot joints. In this sense, we define a new controllability concept called “densely controllable”. A sufficient condition is provided to identify whether a robot system is densely controllable. Based on these, we propose a attitude maneuver algorithm for FFR. Computer simulations demonstrate the applicability of the algorithm.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 14 (7), 1077-1084, 1996

  The Robotics Society of Japan

Keywords

• Controllability
• Free-Flying Space Robot
• Nonholonomic System
• Attitude Maneuver

Details

• CRID: 1390001204726713856
• NII Article ID: 10007440542
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.14.1077
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• NDL BIB ID: 4056812
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4056812
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed