MINIMIZING SPACECRAFT ATTITUDE DISTURBANCES IN SPACE MANIPULATOR SYSTEMS
MINIMIZING SPACECRAFT ATTITUDE DISTURBANCES IN SPACE MANIPULATOR SYSTEMS
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DOI：
10.2514/3.20936
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发表时间：
1992-07-01
影响因子：
2.6
通讯作者：
DUBOWSKY, S
中科院分区：
文献类型：
--
作者：
TORRES, MA;DUBOWSKY, S
本文提出了一种称为增强扰动图的技术，用于规划空间操纵器运动，从而产生相对较低的航天器扰动。这一主题备受关注，因为未来在太空中使用的机器人系统可能会因操纵器运动对其航天器施加动态干扰而遇到问题。尽管航天器的姿态控制反应喷气机可以补偿这些动态扰动，但喷气燃料是有限的资源，过度的扰动会限制系统的寿命。增强的干扰图可以帮助理解这个复杂的问题，并有助于开发减少干扰的算法，包括使用机械手冗余来消除干扰的算法。
This paper presents a technique called the enhanced disturbance map to plan space manipulator motions that will result in relatively low spacecraft disturbances. This subject is of significant concern because future robotic systems used in space may encounter problems due to the dynamic disturbances imposed on their spacecraft by their manipulator motions. Although a spacecraft's attitude control reaction jets can compensate for these dynamic disturbances, jet fuel is a limited resource and excessive disturbances would limit the life of a system. The enhanced disturbance map can aid in understanding this complex problem and in the development of algorithms to reduce disturbances, including ones that use manipulator redundancy to eliminate the disturbances.