The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 10, 2000
Filed:
Mar. 16, 1998
Applicant:
Inventors:
David A Bailey, Glendale, AZ (US);
Christopher J Heiberg, Peoria, AZ (US);
Bong Wie, Phoenix, AZ (US);
Assignee:
Honeywell International Inc., Morristown, NJ (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B64G / ; G06F / ;
U.S. Cl.
CPC ...
701 13 ; 701 13 ; 701-4 ; 244165 ; 244164 ; 901-2 ;
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.