@carignanReactionStabilizationOnorbit2000

carignanReactionStabilizationOnorbit2000

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The reaction stabilization of on-orbit robots

Abstract

The focus of this article is to examine the reaction moment effect of satellite-based manipulators and to investigate the feasibility of stabilizing the base platform during arm operations. The goal is not to advance the state of the art in adaptive control, but rather to illustrate the benefits of autonomous attitude stabilization through reaction moment compensation. A derivation of vehicle body dynamics using reaction wheels and thrusters as the primary input sources is given. The modifications to the Newton-Euler method necessary to accommodate a manipulator arm with a free-flying base are then outlined. Next, a quaternion-based feedback regulator design is adopted.

🏵️我应该关心的结果

• 可以使用水下环境进行零重力模拟实验
  • 水下环境复杂，带来动力学问题
• 水下环境带来的悬浮坐标系的机械臂轨迹控制问题
  • 可以通过重新设计机械臂运动轨迹来抵消带来的惯性问题

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