O. Egeland et Jr. Sagli, COORDINATION OF MOTION IN A SPACECRAFT MANIPULATOR SYSTEM, The International journal of robotics research, 12(4), 1993, pp. 366-379
A control scheme for the coordination of motion in a space-craft/manip
ulator system is presented. It is shown how end-effector motion can be
decoupled from satellite motion, satellite rotation, or total system
momentum by selecting suitable generalized speeds for the satellite. T
he schemes are based on recursive calculation of kinematics and dynami
cs, and 12 degrees of freedom can be controlled without excessive comp
utational effort. Feedback linearization and decoupling of end-effecto
r motion and total system momentum are discussed in detail. The satell
ite controller can then be developed independently of the manipulator
controller and reaction jets and momentum wheels are used only to repo
sition the satellite. The end effector can be controlled accurately wi
th a high bandwidth, while a slow, gross positioning can be used for t
he satellite. The resulting controller is very efficient in terms of f
ueL The spacecraft/manipulator system is regarded as a redundant manip
ulator of the macro-micro type with 12 degrees of freedom, and a redun
dancy resolution scheme based on the augmented task space approach is
used to generate the position and orientation reference for the spacec
raft. The proposed controller was simulated with a 12-degrees-of-freed
om model that was generated with a recursive formulation of the Jacobi
ans. The results are presented in this article.