Momentum distribution in a space manipulator for facilitating the post-impact control

@article{Dimitrov2004MomentumDI,
  title={Momentum distribution in a space manipulator for facilitating the post-impact control},
  author={Dimitar Dimitrov and Kazuya Yoshida},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  year={2004},
  volume={4},
  pages={3345-3350 vol.4}
}
This paper presents a new strategy for capturing a free floating satellite initially having angular momentum. The main focus is on the base attitude before, during and after the catch. We use a joint space orthogonal decomposition procedure involving the so-called reaction null space during the pre-impact and post-impact phases. The idea of preloading bias momentum in a space robot system is discussed. Furthermore, we show that if proper post impact control is utilized the base deviation can be… CONTINUE READING
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