Motion equations and control of the free-flying space manipulator in the reconfiguration mode

The problem of constructing a mathematical model of the planar motion of a free-flying space manipulator meant for maintenance of the surface of manned orbital station was examined. Consideration was given to the design of an algorithm of economic control of the manipulator configuration on the basis of self-braking drives with allowance for substantial mobility of the base. Some results of modeling the space robot dynamics in the mode of manipulator configuration control with subsequent suppression of the carrying body orientation error which corroborate efficiency of the proposed algorithms were presented.