Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite

Tomohisa Oki, Satoko Abiko, Hiroki Nakanishi, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

This study addresses a time-optimal control of a free-floating space robot to stabilize a tumbling target satellite while paying attention to: 1) limitations on the grasping force and torque, 2) detumbling operation along an arbitrary arm motion, and 3) parameter uncertainty in the target satellite, by parameterizing the manipulator hand motion. The concept of detumbling speed, determines the optimal control input and is also advantageous when handling dynamics parameter uncertainty in the target satellite.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages625-630
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

Fingerprint

Satellites
Barreling
Manipulators
Torque
Robots
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Oki, T., Abiko, S., Nakanishi, H., & Yoshida, K. (2011). Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite. In IEEE International Conference on Intelligent Robots and Systems (pp. 625-630). [6048758] https://doi.org/10.1109/IROS.2011.6048758

Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite. / Oki, Tomohisa; Abiko, Satoko; Nakanishi, Hiroki; Yoshida, Kazuya.

IEEE International Conference on Intelligent Robots and Systems. 2011. p. 625-630 6048758.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Oki, T, Abiko, S, Nakanishi, H & Yoshida, K 2011, Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite. in IEEE International Conference on Intelligent Robots and Systems., 6048758, pp. 625-630, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 11/9/25. https://doi.org/10.1109/IROS.2011.6048758
Oki T, Abiko S, Nakanishi H, Yoshida K. Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite. In IEEE International Conference on Intelligent Robots and Systems. 2011. p. 625-630. 6048758 https://doi.org/10.1109/IROS.2011.6048758
Oki, Tomohisa ; Abiko, Satoko ; Nakanishi, Hiroki ; Yoshida, Kazuya. / Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite. IEEE International Conference on Intelligent Robots and Systems. 2011. pp. 625-630
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