Exact nonlinear command generation and tracking for robot manipulators and spacecraft slewing maneuversIn connection with the current interest in agile spacecraft maneuvers, it has become necessary to consider the nonlinear coupling effects of multiaxial rotation in the treatment of command generation and tracking problems. Multiaxial maneuvers will be required in military missions involving a fast acquisition of moving targets in space. In addition, such maneuvers are also needed for the efficient operation of robot manipulators. Attention is given to details regarding the direct nonlinear command generation and tracking, an approach which has been successfully applied to the design of control systems for V/STOL aircraft, linearizing transformations for spacecraft controlled with external thrusters, the case of flexible spacecraft dynamics, examples from robot dynamics, and problems of implementation and testing.
Document ID
19850065565
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Dywer, T. A. W., III (Colorado State Univ. Fort Collins, CO, United States)
Lee, G. K. F. (Colorado State University Fort Collins, United States)