Abstract
This chapter concerns a space robotics application where both trajectory and force/moment control strategies are studied. The space robot is a nonholonomic system with a floating base and its model and control law formulations are fundamentally different from those of a ground-based robot. This chapter gives a detailed account of space vehicle and robot arm dynamics and builds on from those to develop a bond graph model of the space robot. Rigid body mechanics for nonholonomic systems is thoroughly revisited and used in dynamic model development. Two degrees-of-freedom and three degrees-of-freedom space robots are considered as examples. Trajectory and hybrid trajectory/force control (or impedance control) for the two robots are addressed separately. Switching controllers for adaptive gain modulation and positional error (amnesia) recovery during impedance control are implemented. The model is built using a hierarchical object-oriented approach and the integration of control laws with the physical system has been handled systematically. The controller design has been validated through numerical simulations.
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