A reaction-null/Jacobian transpose control strategy with gravity gradient compensation for on-orbit space manipulators

The dynamics and the control of space manipulators floating in 3D space is analyzed in this paper. A minimum state variable approach for describing the dynamics of a free-floating space manipulator under gravity and gravity gradient forces is presented. A new control strategy involving a combination...

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Bibliographic Details
Published in:Aerospace science and technology 2014-10, Vol.38, p.30-40
Main Authors: Pisculli, A., Felicetti, L., Gasbarri, P., Palmerini, G.B., Sabatini, M.
Format: Article
Language:English
Subjects:
Applied sciences
Compensation
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Dynamic tests
Dynamics
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Gravitation
Gravity gradient compensation
Jacobian transpose control
Jacobians
Manipulators
Physics
Reaction null control
Robot arms
Robotics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Space manipulator
Space multibody dynamics
Strategy
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Summary:The dynamics and the control of space manipulators floating in 3D space is analyzed in this paper. A minimum state variable approach for describing the dynamics of a free-floating space manipulator under gravity and gravity gradient forces is presented. A new control strategy involving a combination of Reaction Null and Jacobian Transpose controllers, including also the gravity gradient compensation, is suggested and compared with the Jacobian Transpose control and the conventional Proportional Derivative control. Several numerical examples will be presented and discussed, considering platforms with single and double manipulators, showing the advantages and drawbacks related to these control strategies.
ISSN:1270-9638
1626-3219
1626-3219
DOI:10.1016/j.ast.2014.07.012