宇宙ロボットのアーム運動による本体姿勢のフィードバック制御

抄録

In this paper, a method to control attitude of a space robot by its arm motion is considered. The proposed method is to generate large attitude change by the cyclic motion of the arm. Usually, only path planning of the arm has been treated for this kind of control. The method to modify the arm path by feedback of the attitude error is proposed in the paper. Numerical simulations have been executed to verify the validity of the feedback law. The results show that the method is effective to reduce the attitude error even when the discrepancy of the mass property exists between the space robot model for the path planning and that for the simulations.