Experiments on the Control of a Satellite Manipulator

  • Harold L. Alexander
  • Robert H. CannonJr.
Part of the Progress in Materials Handling and Logistics book series (LOGISTICS, volume 1)


Automation is becoming increasingly important to the exploration and utilization of space. Space-based robotic systems will provide efficient and inexpensive means to work in space. The dynamic control of space robots presents unique challenges, partly due to the robot’s lack of a fixed base.


Base Body Actuator Force Space Robot Angular Rate Sensor Basic Dynamic Equation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Wampler, C. W., Computer Methods in Manipulator Kinematics, Dynamics, and Control: A Comparative Study, Department of Mechanical Engineering Ph.D. Thesis, Stanford University, 1984.Google Scholar
  2. 2.
    Luh, J. Y. S., M. W. Walker, and R. P. C. Paul, “Resolved-Acceleration Control of Mechanical Manipulators,” IEEE Transactions on Automatic Control, Vol. AC-25, No. 3, pp. 468–474a, June 1980a.CrossRefGoogle Scholar
  3. 3.
    Khatib, Oussama, “A United Approach for Motion and Force Control of Robot Manipulators: the Operational Space Formulation,” to be published.Google Scholar
  4. 4.
    Tiley, Scott W. and Robert A. Cannon, “End-Point Force Control of a Very Flexible Manipulator with a Fast End Effector,” American Society of Mechanical Engineers, Proceedings of the Winter Annual Meeting, Analheim, CA, December 7–12, 1988.Google Scholar
  5. 5.
    Cannon, R. H. and E. Schmitz, “Initial Experiments on the End-Point Control of a One Link Flexible Experimental Manipulator,” International Journal of Robotics Research, the MIT Press, Cambridge, MA, Vol. 3, No. 3, Fall 1984.Google Scholar
  6. 6.
    Cannon, R. H. and D. Rosenthal, “Experiments in Control of Flexible Structures with Non-colocated Sensors and Actuators,” Journal of Guidance and Control, Vol. 7, No. 5, Sept.-Oct. 1984.Google Scholar
  7. 7.
    Maples, J., End-Point Force Control of a Flexible Manipulator Arm, Department of Electrical Engineering Ph.D. Thesis, Stanford University, 1985.Google Scholar
  8. 8.
    Rehsteiner, F. H., Static and Dynamic Properties of Hyudrostatic Thrust Gas Bearings with Curved Surfaces, Department of Aeronautics and Astronautics Ph.D. Thesis, Stanford University, 1968.Google Scholar
  9. 9.
    Kane, Thomas R. and David A. Levinson, Dynamics: Theory and Applications, McGraw-Hill, 1985.Google Scholar
  10. 10.
    Craig, John J., Introduction to Robotics Mechanics & Control, Addison-Wesley, 1986.Google Scholar
  11. 11.
    Slotine, Jean-Jacques E., “Robustness Issues in the Control of High-Performance Robots,” Proceedings of the 23rd Conference on Decision and Control, Las Vegas, NV, December 1984.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • Harold L. Alexander
    • 1
  • Robert H. CannonJr.
    • 2
  1. 1.Massachusetts Institute of TechnologyUSA
  2. 2.Stanford UniversityUSA

Personalised recommendations