Optimal Control of Free-Floating Spin-Stabilized Space Robotic Systems

R. Callies () and Ch. Sonner ()
Additional contact information
R. Callies: Zentrum Mathematik M2, Technische Universität München
Ch. Sonner: Kuka Roboter GmbH

A chapter in From Nano to Space, 2008, pp 261-276 from Springer

Abstract: Abstract Future robotic manipulators mounted on small satellites are expected to perform important tasks in space, like servicing other satellites or automating extravehicular activities on a space station. In a free-floating space manipulator, the motion of the manipulator affects the carrier satellite’s position and attitude. Spin-stabilization improves the system performance, but further complicates the dynamics. The combination of satellite and multi-link manipulator is modeled as a rigid multi-body system. A Maximum Principle based approach is used to calculate optimal reference trajectories with high precision. To convert the optimal control problem into a nonlinear multi-point boundary value problem, complicated adjoint differential equations have to be formulated and the full apparatus of optimal control theory has to be applied. For that, an accurate and efficient access to first- and higher-order derivatives is crucial. The special modeling approach described in this paper allows it to generate all the derivative information in a structured and efficient way. Nonlinear state and control constraints are treated without simplification by transforming them into linear equations; they do not have to be calculated analytically. By these means, the modeling of the complete optimal control problem and the accompanying boundary value problem is automated to a great extent. The fast numerical solution is by the advanced multiple shooting method JANUS.

Keywords: Optimal Control Problem; Revolute Joint; Control Constraint; Adjoint Variable; Joint Velocity (search for similar items in EconPapers)
Date: 2008
References: Add references at CitEc
Citations:

There are no downloads for this item, see the EconPapers FAQ for hints about obtaining it.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-540-74238-8_19

Ordering information: This item can be ordered from
http://www.springer.com/9783540742388

DOI: 10.1007/978-3-540-74238-8_19

Access Statistics for this chapter

More chapters in Springer Books from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().