Angular motion control algorithms of a space robot

  • Victor Glumov Institute of Control Sciences,\\ Russian Academy of Sciences \\ 65 Profsoyuznaya str. \ Moscow \ 117997 \ Russia
  • Vladislav Rutkovsky Institute of Control Sciences,\\ Russian Academy of Sciences \\ 65 Profsoyuznaya str. \ Moscow \ 117997 \ Russia

Abstract

The modes of control of a free-floating space manipulation robot when installing a payload on a space structure are considered. Based on the equations of motion of the robot, control algorithms for manipulative functioning are proposed. The synthesis of control algorithms is based on the principle of constructing dynamic systems with feedback. Special attention is paid to the synthesis of algorithms that ensure the stability and quality of control at the final stage of the cargo handling installation.

Published
2022-02-23