Dynamic Manipulability Analysis of Multi-Arm Space Robot

The dynamic manipulability of a manipulator refers to the capacity to generate accelerations given the joint torques, which is an important indicator for motion planning and control. In this paper, the dynamic manipulability analysis is extended to the multi-arm space robot, and further to the closed-loop system composed of the space robot and the captured target. According to the dynamic equations, the relation between the joint torques and the end-effector accelerations in the open-loop space robot and that between the joint torques and the target accelerations in the closed-loop system are derived. On this basis, the dynamic manipulability factor and dynamic manipulability ellipsoid are proposed as two tools for the dynamic manipulability measure, where the effects of the bias acceleration are considered. The influences of dynamic parameters, link lengths, joint variables, and velocities on the dynamic manipulability measure are mainly studied.