Shigemune Taniwaki

Coordinated Control of a Satellite-Mounted Manipulator with Consideration of Payload Flexibility

Abstract When a space robot performs tasks, disturbances caused by payload motion downgrade attitude control performance of the main body. Thus, the payload should be controlled not to generate large disturbances, and the attitude controller should have high robustness to these disturbances. In this paper, a payload motion planing method based on angular momentum constraints (AMC) is proposed, where the disturbance torque caused by the payload rigid motion is reduced. An attitude control method based on Lac/Hac is also proposed, where the disturbance torque caused by the payload flexible motion is compensated. The usefulness of this approach is verified through numerical simulation results.