Coordinated control of multiple free-floating space robotic system

This paper presents the coordinated control method of multiple free-floating space robotic system consisting of some space robots having manipulators and a floating object in the space micro-gravity environment. Firstly, the generalized Jacobian matrix (GJM) of multiple free-floating space robotic s...

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Bibliographic Details
Published inIEEE International Conference Mechatronics and Automation, 2005 Vol. 1; pp. 357 - 361 Vol. 1
Main Authors Liu Chang'an, Wu Kehe, Xu Van
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Control systems
Force control
Jacobian matrices
Manipulator dynamics
Orbital robotics
Robot kinematics
Robotic assembly
Satellites
Space exploration
Space technology
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Summary:This paper presents the coordinated control method of multiple free-floating space robotic system consisting of some space robots having manipulators and a floating object in the space micro-gravity environment. Firstly, the generalized Jacobian matrix (GJM) of multiple free-floating space robotic system is introduced. Secondly, the dynamic model of multiple free-floating space robotic system is founded and the dynamic function is introduced. Then, the dynamic control scheme is proposed to regulate object position and internal forces. Finally, the effectiveness of the method is verified by computer simulation.
ISBN:9780780390447
078039044X
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2005.1626573