抄録
When a robot arm is mounted on a satellite to perform some tasks, the satellite attitude must be stabilized to retain the communication link and to generate electrical power from its solar panels. It is not realistic to control the total system as one dynamic system, since the number of degrees of freedom becomes too large to be handled by state-of-the-art satellite mounted computer. The proposed coordinated control concept is realized by the real-time compensation of the robot arm’s reaction by the satellite attitude control system and the robot arm motion control by the robot arm controller not to generate the excess reaction against the satellite attitude stability. Stability of the satellite attitude is guaranteed by the proposed coordinated control.
