三次元フリーフライングロボットの姿勢制御

―第3報: 初期運動量を有するシステムのフィードバック制御―

抄録

This paper addresses a feedback control strategy for 3D free-flying linkage robots with non-zero angular momentum, in which the robots' orientation and configuration can be reached to desired states in an arbitrary amount of time. Mainly since its constraint is non-Chaplygin, their motion is very complicated to grasp intuitively. We first analyze the dynamic mechanism of twisting somersault motion and then design the controllers to make the systems perform this kind of motion. The proposed controllers characteristically utilize the feedback against the system's limit state. Several simulation results show their readily reachability and robustness with initial state error. The controller is also applicable for plannar systems and spinning satellites in space.