Coordinated control of a satellite-mounted manipulator with consideration of payload flexibility

摘要

When a space robot performs tasks, disturbances caused by payload motion downgrade the attitude control's accuracy. Thus, the payload should be controlled so as not to generate large disturbances. In this paper, payload motion planning based on angular momentum constraints (AMC) is proposed. In this method, disturbances are reduced by controlling the payload's redundant motions. Remaining disturbances caused by payload flexibility are compensated for by a robust feedback controller consisting of a variable gain and a H_∞ controller. The usefulness of this approach is verified through numerical simulations and hardware experiments.