初期角運動量を有するフリーフライング運動系の三次元姿勢制御法

抄録

This paper presents two kinds of motion control methods for a free-flying multi-link system with nonzero angular momentum. The first one deals with the optimization of both joint trajectory and initial angular momentum. The second one is based on the optimization of the velocity of the traveling function along a given joint path. Throughout these optimizations, not only are initial and final conditions satisfied, but also midway behavior is controlled. Numerical simulations have been executed compared to twist somersault performance of gymnast, and the results show the validity of these methods.