Coordinated manipulator/spacecraft motion control for space robotic systems
- 1 January 1991
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1696-1701
- https://doi.org/10.1109/robot.1991.131864
Abstract
The coordinated control of space manipulators and their spacecraft is investigated. The dynamics of free-flying space robotic systems are written compactly as functions of the system barycentric vectors. A control technique is developed that includes requirements on a spacecraft's position and orientation as well as on its manipulator. This control scheme has the double advantage of allowing a system's motioKeywords
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