Path planning for space manipulators to minimize spacecraft attitude disturbances
Path planning for space manipulators to minimize spacecraft attitude disturbances
复制标题
DOI：
10.1109/robot.1991.132005
复制
发表时间：
1991-04
期刊：
影响因子：
--
通讯作者：
S. Dubowsky;M. Torres
中科院分区：
文献类型：
--
作者：
S. Dubowsky;M. Torres
提出了一种被称为增强扰动图的技术，用于规划将导致相对较小的航天器扰动的空间机械手的运动。虽然航天器的姿态控制反作用喷气可以补偿机械手运动对航天器的动态扰动，但反作用喷气燃料是有限的资源。过度的干扰会限制系统的寿命。增强的干扰图有助于理解这一复杂问题，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。
A technique, called the enhanced disturbance map, for planning space manipulator motions that will result in relatively low spacecraft disturbance is presented. Although a spacecraft's attitude control reaction jet can compensate for the dynamic disturbances imposed on the spacecraft by the manipulator's motions, reaction jet fuel is a limited resource. 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.>