Algorithm of Attitude Control and Its Simulation of Free-Flying Space Robot

作     者：王鸿鹏 

作者机构：Harbin Inst of Technology Harbin China 

出 版 物：《High Technology Letters》 (高技术通讯（英文版）)

年 卷 期：2000年第6卷第2期

页      面：85-90页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：SupportedbytheHighTechnologyResearchandDevelopmentProgrammeofChina 

主　　题：Free flying space robot Attitude control Restricted minimum disturbance map 

摘      要：Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consumed, and it will shorten the on orbit life span of space robot, it also vibrate the system and make the system unsteady. The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator. In this method it is realized by planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster. In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.