Practical Control Method for Antenna and Manipulator Mounted on Free-Flying Robot in Space.

Abstract

This paper deals with practical simultaneous control of a manipulator and an antenna mounted on a free-flying robot in space. An extended generalized Jacobian matrix and resolved motion rate control are used to establish the control method for antenna positioning and the capture of a target by the manipulator. Moreover, a method revising the angular velocity references to the robot system is introduced to improve the control performances. Computer simulation in which a robot system having a base, 2-DOF manipulator, and one link antenna is used suggest that the proposed method is useful and practical.