Feature/Hinged Joint Array Motor Controller #1210
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Will-Schwend
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schaubh
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Dec 7, 2025
src/fswAlgorithms/effectorInterfaces/hingedJointArrayMotor/hingedJointArrayMotor.h
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Description
This PR adds a new controller that determines the joint motor torques needed to drive an array of hinged joints to their desired values. 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.
Verification
A new unit test
test_hingedJointArrayMotorwas created to verify the motor torques found by the controller.Documentation
New documentation was made for the
hingedJointArrayMotormodule. Release notes were updated to include the new module.Future work
Add link to corresponding paper once published.