Publication Date:
2013-08-31
Description:
The motions of robotic manipulators mounted on spacecraft can disturb the spacecraft's positions and attitude. These disturbances can surpass the ability of the system's attitude control reaction jets to control them, for the disturbances increase as manipulator speeds increase. If the manipulator moves too quickly the resulting disturbances can exceed the saturation levels of the reaction jets, causing excessive spacecraft motions. A method for planning space manipulator's motions is presented, so that tasks can be performed as quickly as possible without saturating the system's attitude control jets.
Keywords:
MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Type:
JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 4; p 409-418
Format:
application/pdf
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