CONTROL OF SPACE MANIPULATOR FOR CAPTURING A TUMBLING OBJECT WA4 - 12:OO

We consider a space robot which consists of a satellite base and a manipulator mounted on the base. The mission of the robot is to capture a tumbling object in space, the motion of which is governed by Euler’s equation, by controlling the manipulator joint angles. First, the equations of motion of the space robot are derived by using the conservation law of linear and angular momenta. Then a sensory feedback control law is proposed which guarantees that both position and orientation of manipulator hand coincide asymptotically with those of the tumbling object. Some results of computer simulation are also shown.

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