NASA NTRS · 19920046590
Failure recovery control for space robotic systems
Abstract
The problem of controlling a failed joint of a space manipulator is addressed. It is shown that failure-recovery control is possible when dynamic coupling exists between the link whose joint has failed and some other link whose joint is working and when the system inertia matrix is invariant with respect to the failed joint angle. A failure-recovery control technique is developed and applied to two simple examples.
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Papadopoulos, Evangelos, Dubowsky, Steven. 1991-01-01. Failure recovery control for space robotic systems. https://ntrs.nasa.gov/citations/19920046590
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