DYNAMIC CONTROL AND COUPLING OF A FREE-FLYING SPACE ROBOT SYSTEM

In this article we discuss the problem of dynamic coupling and control of a space robot with a free-flying base, which could be a spacecraft, space station, or satellite. We formulate the dynamics of the system systematically and demonstrate nonlinearity of parameterization of the dynamics structure. We study the dynamic coupling of the robot and base system, and propose a concept, i.e., coupling factor, to illustrate the motion and force dependencies. Based on the coupling factor, we define a measure to characterize the degree of the dynamic coupling. The measure can be considered as a performance index in planning robot motion, or in evaluating robot trajectory for minimizing base motion, or in optimizing the robot configuration design and selecting the robot base location. Based on the dynamics analysis, we propose control schemes for position regulation and trajectory tracking problems. The regulation controller is simple to implement and will be useful in regular material transporting tasks. The tracking controller uses a dynamic model and provides more accurate and faster motion, and will be feasible for tracking moving objects or structural inspection tasks. A simulation study is shown at the end of the article. (C) 1994 John Wiley & Sons, Inc.