コントロールモーメントジャイロによるトルクユニットマニピュレータの制御

DOI Web Site Web Site 被引用文献1件 参考文献9件

書誌事項

タイトル別名
  • Torque-Unit-Manipulator Driven by Control Moment Gyros.
  • コントロールモーメントジャイロ ニ ヨル トルクユニットマニピュレータ ノ セ

この論文をさがす

抄録

This paper deals with a space manipulator which is called Torque Unit-Manipulator (TUM): TUM separates its actuator called torque unit from its joints; i.e., torque unit is placed on an arbitrary place on a link, and each rotational joint is a free joint. The TUM proposed in the previous work, however, is driven by reaction wheels, and thus it has a problem to be solved: the angular velocity of the reaction wheel may saturate when external force disturbs the posture of the TUM repeatedly. The reason is that the reaction wheels accumulate angular momentum during the maneuver because of non holonomic constraint for the free joints. Therefore, TUM driven by Control Moment Gyros (CMGs) is proposed in this paper. For the proposed TUM, an asymptotically stable controller can be designed through Lyapunov's approach, and besides the gimbai angular velocity of the CMG returns to zero after each maneuver. The dynamics of the proposed TUM is computed in numerical simulation, and the effectiveness of the designed controller is shown.

収録刊行物

被引用文献 (1)*注記

もっと見る

参考文献 (9)*注記

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ