The problem of controlling the end effector of a space robot that consists of a main body equipped with a momentum wheel and a manipulator is difficult, because nutation of the body may become stable or unstable depending on the geometric relationship between the angular momentum vector of the wheel and the shape of the manipulator. In this paper, we show the change in the stability of nutation according to the geometric relationship by eigenvalue analysis and propose a method of planning a motion that makes the nutation stable for a space robot with a redundant manipulator.
Motion planning of a space robot with a momentum wheel
