Hub Reaction Motion Compensator #1216
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
schaubh
changed the title
schaubh
requested changes
Dec 17, 2025
src/fswAlgorithms/effectorInterfaces/jointMotionCompensator/jointMotionCompensator.cpp
Show resolved
Hide resolved
src/fswAlgorithms/effectorInterfaces/jointMotionCompensator/jointMotionCompensator.cpp
Show resolved
Hide resolved
src/fswAlgorithms/effectorInterfaces/jointMotionCompensator/jointMotionCompensator.rst
Show resolved
Hide resolved
Will-Schwend
force-pushed
the
feature/Joint-Motion-Compensator
branch
from
5406e47 to
b575f75
Compare
schaubh
approved these changes
Dec 23, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR adds a new controller that determines the hub torques needed to negate the hub motion induced by the motor torques/motion of an array of hinged joints. It works for an arbitrary number of spacecraft as long as they have a single rigid 6-DOF hub and only have attached hinged joints.
This PR also updates the
hingedJointArrayMotormodule unit test to verify the effects of mass matrix coupling with the hub and joints is properly accounted for.Verification
A new unit test
test_jointMotionCompensatorwas created to verify the hub torques found by the controller.The unit test
test_hingedJointArrayMotorwas updated to test mass matrix coupling.Documentation
New documentation was made for the
jointMotionCompensatormodule. Release notes were updated to include the new module.Future work
Add link to corresponding paper once published.