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Recent trends in spacecraft development favor optical payloads with good resolution on low mass platforms with agile pointing capability. For a payload with good resolution, pointing stability is a key performance metric. However, as spacecraft inertia decreases, the payload line-of-sight stability becomes increasingly susceptible to disturbance inputs. In addition, as spacecraft agility increases...
This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation...
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