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Deployment analysis and control strategies of flexible space manipulators
University of Rome la Sapienza.
University of Rome la Sapienza.ORCID iD: 0000-0001-6830-4308
University of Rome la Sapienza.
Sapienza Università di Roma, Dipartimento di Ingegneria Astronautica Elettrica Ed Energetica (DIAEE).
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2013 (English)In: Proceedings of the International Astronautical Congress, IAC: IAC 2013, Beijing, China, 23 - 27 September 2013, International Astronautical Federation, 2013, Vol. 7, p. 5732-5747Conference paper, Published paper (Refereed)
Abstract [en]

The dynamics and the control of articulated structures for an in-orbit manipulation is a profitable field of research due to worldwide development. The dynamics and the control of such systems is a challenging task, since the equations that govern their motion are highly nonlinear and the control strategies need to take the limited resources carried on board of the common space systems into account. They refer for instance to limited energy power, limited computational power and limited control power of the actuators; furthermore the base platforms of these robotic systems are generally floating in space or subjected to gravity gradient and other environmental torques and forces. For these reasons an investigation on the deploying strategies for orbiting space manipulators is necessary in order to find the best solutions. In this paper three different control strategies are analyzed: the Reaction Null control, the Jacobian Transpose control and the conventional Proportional Derivative control that are compared in terms of power consumption and of the relevant control efforts. The analysis involves both single and double space manipulator systems. The effects of the elasticity of the motor shafts on the behaviour of the deploying manoeuver are also analysed. Numerical simulations, obtained by a space optimized multibody code, are used for demonstrating the suitability and the proficiency of this kind of control strategies

Place, publisher, year, edition, pages
International Astronautical Federation, 2013. Vol. 7, p. 5732-5747
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-29559Scopus ID: 84904606027Local ID: 311d9027-8d3c-4b40-a3dc-6ed45deae9f0ISBN: 9781629939094 (print)OAI: oai:DiVA.org:ltu-29559DiVA, id: diva2:1002783
Conference
International Astronautical Congress 2013 : 23/09/2013 - 27/09/2013
Note
Upprättat; 2013; 20160429 (andbra)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved

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Felicetti, Leonard

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