Lyapunov controller for cooperative space manipulators

Journal of Guidance, Control, and Dynamics

Volumn 21, Issue 3, 1998, Pages 477-484

  Yale, Gary E ^a,c   Agrawal, Brij N ^b,c  

^a UNITED STATES AIR FORCE ACADEMY   (United States)

^b NAVAL POSTGRADUATE SCHOOL   (United States)

^c AIAA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; LYAPUNOV METHODS; MANIPULATORS; MATHEMATICAL MODELS; POLYNOMIALS; REDUNDANCY; SPACECRAFT; SYSTEM STABILITY; TORQUE;

COOPERATIVE CONTROL;

MOTION CONTROL;

EID: 0032075771     PISSN: 07315090     EISSN: 15333884     Source Type: Journal    
DOI: 10.2514/2.4261     Document Type: Article

References (12)

1. Lindberg, R. E., Longman, R. W., and Zedd, M. F., "Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite," Journal of the Astronautical Sciences, Vol. 38, No. 4, 1990, pp. 397-421.
2. Alexander, H. L., and Cannon, R. H., Jr., "An Extended Operational-Space Control Algorithm for Satellite Manipulators." Journal of the Astronautical Sciences, Vol. 38, No. 4, 1990, pp. 473-486.
3. Oda, M., "On the Dynamics and Control of ETS-7 Satellite and Its Robot Arm," IROS '94: Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Inst. of Electrical and Electronics Engineers, Piscataway, NJ, pp. 1586-1593.
4. Longman, R. W., Lindberg, R. E., and Zedd. M. F., "Satellite-Mounted Robot Manipulators-New Kinematics and Reaction Moment Compensation," International Journal of Robotics Research, Vol. 6, No. 3, 1987, pp. 87-103.
5. Yoshida, K., "Practical Coordination Control Between Satellite Attitude and Manipulator Reaction Dynamics Based on Computed Momentum Concept," IROS '94: Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Inst. of Electrical and Electronics Engineers, Piscataway, NJ, pp. 1578-1585.
6. Chung, C. L., Desa, S., and deSilva, C. W., Base Reaction Optimization of Redundant Manipulators for Space Applications, Carnegie Mellon Univ., Pittsburgh, PA, 1988.
7. Sato, Y., Hirata, M., Nagashima, F., Maruyama, T., and Uchiyama, T., "Reducing Attitude Disturbances While Teleoperating a Space Manipulator," Proceedings IEEE International Conference on Robotics and Automation, IEEE Computer Society Press, Los Alamitos, CA, 1993, pp. 516-523.
8. Vafa, Z., "Space Manipulator Motions with No Satellite Attitude Disturbances," Proceedings of 1990 IEEE International Conference on Robotics and Automation, IEEE Computer Society Press, Los Alamitos, CA, 1990, pp. 1770-1775.
9. Sadigh, M. J., and Misra, A. K., "Stabilizing Tethered Satellite Systems Using Space Manipulators," IROS '94: Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Inst. of Electrical and Electronics Engineers, Piscataway, NJ, pp. 1546-1553.
10. Yoshida, K., Kurazume, R., and Umetani, Y., "Torque Optimization Control in Space Robots with a Redundant Arm," Proceedings of IROS '91, Inst. of Electrical and Electronics Engineers, New York, 1991, pp. 1647-1652.
11. Ahmad, S., and Zribi, M., "Lyapunov Based Control Design for Multiple Robots Handling a Common Object," Mechanics and Control: Proceedings of 4th Workshop on Mechanics and Control, edited by J. M. Skowronski, H. Flashner, and R. S. Guttaull Springer-Verlag, Berlin, 1992, pp. 1-17.
12. Schneider, S.A., and Cannon, R. H., Jr., "Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results," Proceedings of 1989 IEEE International Conference on Robotics and Automation, IEEE Computer Society Press, Washington, DC, 1989, pp. 1076-1083.