Optimal Paths for Satellite Mounted Robots

摘要

During space operations it will become increasingly common to have robots on satellites manipulating loads with masses that are not negligible compared to that of the satellite. It is important there to eliminate the attitude disturbances of the satellite due to movements of the load. In this paper an optimal control approach is used not only to solve this problem, but also to minimize a cost functional simultaneously. Theoretical investigations as well as numerical results for selected optimization criteria are demonstrated.