Control of Space Manipulators with Generalized Jacobian Matrix

Abstract

Space has been attracting special interest as a new application field of robotics. A robotic teleoperator system installed with space manipulators will play an important role in future space projects, such as constructing space structures or servicing satellites. However, in space environment, the lack of a fixed base arises serious problems in controlling space manipulators. Any motion of the manipulator arm will induce reaction forces and moments, and they disturb position and attitude of the satellite which is a footing base of the manipulator. To establish a control method for space manipulators with taking dynamical interaction between the manipulator arm and the base satellite into acconnt, the present authors investigate kinematics and dynamics of free-flying multibody systems by introducing a momentum conservation law into the formulation, and propose a new Jacobian matrix in a generalized form. By means of it, Resolved Motion Rate Control method, as well as Resolved Acceleration Control, is developed for space manipulation. The proposed method is widely applicable for not only free-flying operation but also attitude control problems. The validity and effectiveness of the method is exhibited by computer simulations and experimental study.