Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Aeronautical vehicle
Patent
1998-03-16
2000-10-10
Zanelli, Michael J.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Aeronautical vehicle
701 13, 701 4, 244165, 244164, 901 2, B64G 128, G06F 1700
Patent
active
061310565
ABSTRACT:
A system for avoiding singularities in a control moment gyro (CMG) array of a satellite uses closed and open loop control of the CMGs for reorientation of the satellite. A control system detects when closed loop control according to pseudo inverse rules will cause a singularity and issues a signal. The CMGs are then controlled open loop to avoid the singularity. The pseudo inverse singularity problem arises where there are more actuators than dimensions in the controlled space. Accordingly, the invention may also be used in a robotic arm manipulator.
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Bailey David A.
Heiberg Christopher J.
Wie Bong
Gibson Eric M.
Greenstien Robert E.
Honeywell International , Inc.
Zanelli Michael J.
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