A control scheme for the reduction of thruster-manipulator interactions in space robotic systems

Martin, E; Papadopoulos, E; Angeles, J

dc.contributor.author	Martin, E	en
dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Angeles, J	en
dc.date.accessioned	2014-03-01T02:48:35Z
dc.date.available	2014-03-01T02:48:35Z
dc.date.issued	1998	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33919
dc.subject	Degree of Freedom	en
dc.subject	Dynamic Model	en
dc.subject	Fuel Consumption	en
dc.subject	Space Robotics	en
dc.subject	Attitude Control System	en
dc.title	A control scheme for the reduction of thruster-manipulator interactions in space robotic systems	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.1998.727487	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.1998.727487	en
heal.publicationDate	1998	en
heal.abstract	Space manipulators mounted on an on-off thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link flexibility become important, for they can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamics model of an N-flexible-joint space manipulator is developed. The model of a three-flexible-joint manipulator	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.1998.727487	en