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Synthesis of Control of Hinged Bodies Relative Motion Ensuring Move of Orientable Body to Necessary Absolute Position

  • Yu. N. Artemenko
  • A. P. Karpenko
  • P. P. Belonozhko
Chapter
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 95)

Abstract

Purpose: Taking into account evolution trends of space-system engineering, on solution of tasks concerned with control systems elaboration, making of Robot Central Nervous System (RCNS) for perspective space-purpose robotic systems, we can talk about urgency of problems of brake-release mode analysis, which specificity is determined by functionality of systems under consideration and orbital external environment. The paper considers characteristic features of controlled motion of space system “movable platform-manipulator—payload”, which moves in inertial space under the action of the hinged control in conditions free of external forces. Results: Using mathematical model obtained in Artemenko et al. (Smart electromechanical systems. Springer International Publishing, Switzerland, pp. 177–190, 2016, [1]) the paper examines an example of task solution of control synthesis of relative movement of orientable and lifting body, providing setting of orientable body in desired absolute position. Practical importance: There are perspective space systems, for which the considered type of controlled motion is possible as normal mode of operation being of applied interest.

Keywords

Manipulator Movable basis Massive payload Research of dynamic conditions Model task 

References

  1. 1.
    Artemenko, Yu.N., Karpenko, A.P., Belonozhko, P.P.: Features of manipulator dynamics modeling into account a movable platform. In: Gorodetskiy, A.E. (eds.) Smart electromechanical systems. Studies in Systems, Decision and Control, vol. 49, pp. 177–190. Springer International Publishing Switzerland (2016). doi: 10.1007/978-3-319-27547-5_17
  2. 2.
    Artemenko, Yu.N.: Synthesis of orientation mechanisms for the space observatory “ Millimetron”. 1. Capabilities of parallel mechanisms for orientation of the space observatory “Millimetron”. Science and Education of the Bauman MSTU (2013). No. 1. doi: 10.7463/0113.0534292
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    Artemenko, Iu.N., Karpenko, A.P., Pashchenko, V.N., Martyniuk, V.A., Volkomorov, S.V., Temerev, K.A., Sharygin, A.V.: Synthesis of orientation mechanisms for the space observatory “Millimetron” . 2. Synthesis and optimization of a parallel multi-sectional manipulator for orientation of the space observatory “Millimetron”. Science and Education of the Bauman MSTU (2013). No. 3. doi: 10.7463/0413.0554360
  4. 4.
    Artemenko, Yu.N., Glazunov, V.A., Sil’vestrov, E.E., Korenovskiy, V.V., Demidov, S.M.: Synthesis of orientation mechanisms for the space observatory “Millimetron” . 3. Synthesis of parallel mechanisms for orientation of the antenna of space observatory. Science and Education of the Bauman MSTU (2013). No 5. doi: 10.7463/0513.0571127
  5. 5.
    Artemenko, Yu.N., Sayapin, S.N.: Synthesis of orientation mechanisms for the space observatory “Millimetron”. 4. The concept of intelligence system of active vibration protection and very precise pointing of the space observatory “Millimetron”. Science and Education of the Bauman MSTU (2013). No 6. doi: 10.7463/0613.0574243
  6. 6.
    Artemenko, Yu.N., Belonozhko, P.P., Karpenko, A.P., Saypin, S.N., Fokov, A.A.: Mechanisms of parallel structure for mutual positioning useful loading and space ship. Robot. Tech. Cybern. 1(C), 65–71 (2013)Google Scholar

Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Yu. N. Artemenko
    • 1
  • A. P. Karpenko
    • 2
  • P. P. Belonozhko
    • 2
  1. 1.The Astrospace Center of P.N. Lebedev Physical Institute of the Russian Academy of SciencesMoscowRussia
  2. 2.The Bauman Moscow State Technical UniversityMoscowRussia

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