Coordinated control of a satellite-mounted manipulator with consideration of payload flexibility |
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| Affiliation: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;2. School of Electronics, Information and Electric Engineering, Shanghai Jiaotong University, Dongchuan Road 800, Shanghai 200240, China;1. Department of Engineering, University of Ferrara, Italy;2. Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy |
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| Abstract: | When a space robot performs tasks, disturbances caused by payload motion downgrade the attitude control's accuracy. Thus, the payload should be controlled so as not to generate large disturbances. In this paper, payload motion planning based on angular momentum constraints (AMC) is proposed. In this method, disturbances are reduced by controlling the payload's redundant motions. Remaining disturbances caused by payload flexibility are compensated for by a robust feedback controller consisting of a variable gain and a H∞ controller. The usefulness of this approach is verified through numerical simulations and hardware experiments. |
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