Journal ArticleDOI
Redundant single gimbal control moment gyroscope singularity analysis
TLDR
In this paper, the robotic manipulator is proposed as the mechanical analog to single gimbal control moment gyroscope systems, and it is shown that both systems share similar difficulties with singular configurations.Abstract:
The robotic manipulator is proposed as the mechanical analog to single gimbal control moment gyroscope systems, and it is shown that both systems share similar difficulties with singular configurations. This analogy is used to group gimbal angles corresponding to any momentum state into different families. The singularity problem associated with these systems is examined in detail. In particular, a method is presented to test for the possibility of nontorque-producing gimbal motion at a singular configuration, as well as to determine the admissible motions in the case when this is possible. Sufficient conditions are derived for instances where the singular system can be reconfigured into a nonsingular state by these nontorque-producing motions.read more
Citations
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Journal ArticleDOI
Singularity Robust Steering Logic for Redundant Single-Gimbal Control Moment Gyros
TL;DR: In this article, a singularity robust inverse (SRI) is proposed for a single-gimbal control moment gyros (CMGs) to pass through and escape from internal singularities.
Journal ArticleDOI
Singular Direction Avoidance Steering for Control-Moment Gyros
Kevin A. Ford,Christopher Hall +1 more
TL;DR: In this paper, a new form of the equations of motion for a spacecraft with single Gimbal Control Moment Gyros is developed using a momentum approach, where the attempt to avoid singular gimbal configurations is abandoned in favor of simply avoiding movement in the singular direction.
PatentDOI
Singularity escape/avoidance steering logic for control moment gyro systems
TL;DR: In this paper, a new steering logic based on a mixed weighted two-norm and least squares optimization solution overcomes a deficiency of being trapped in the momentum saturation singularities was proposed.
References
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Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part II—Implementation
TL;DR: In this article, a feedback control algorithm for imposing a desired cartesian impedance on the end-point of a nonlinear manipulator is presented, which completely eliminates the need to solve the ''inverse kinematics problem'' in robot motion control.
Book
Calculus on Manifolds
TL;DR: The Fundamental Theorem of Calculus Integration on Manifolds as discussed by the authors is based on the Stokes Theorem on manifolds, which is also known as Stokes theorem on manifolds.