Abstract
The performance of proposed space robotic systems can be degraded by the dynamic interaction between a space robot and its supporting structure or spacecraft. Free-flying space robotic systems may use reaction jets to control the attitude and position of the spacecraft; other system concepts call for small dexterous manipulators mounted on large, flexible manipulator systems. The dynamic interaction between a space robotic manipulator and its base in microgravity can make it difficult to control and lead to system performance degradation. Control and planning algorithms proposed in the past to compensate for this dynamic interaction have lacked sufficient experimental evaluation. This chapter describes a laboratory test bed that was developed and built to emulate the dynamic behavior of space robotic systems and investigate proposed planning and control algorithms. Two methods for removing the effects of gravity in the laboratory are presented. Experimental results demonstrate the effectiveness of this test bed in studying the dynamic coupling between a space manipulator and its spacecraft.
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