Optimal rotational maneuvers of spacecraft using manipulator arms
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1994 American Institute of Aeronautics and Astronautics. Inc. All rights reserved. This paper presents optimal maneuvers of spacecraft possessing multiple interconnected manipulator aims. In the absence of external torques, the angular momentum of the spacecraft is conserved and this imposes a constraint on its motion. Thenon-holonomic nature of this constraint allows for the design of open-loop control laws that can position the final attitude of the spacecraft and the position of its arms independently as desired. It is shown that the spacecraft attitude as well as the manipulator joint angles can be changed from any initial orientation to any final orientation in finite time. The rotation maneuver can also be carried out in an optimal fashion to minimize either the joint-angle accelerations (with specified maneuver time) or to minimize maneuver time (with specified bounds on the joint- angle accelerations), hi both of these cases the control is parametrized and a sequential quadratic programming algorithm, is used to optimize the parameters. The control laws obtained are shown to provide far superior performance compared to previous published results. The proposed method has been extended to the three dimensional case and some results on optimal three dimensional maneuvers are also presented.
