Control of multimode manipulative space robot in outer space

Abstract

Some issues of safe motion of the space robot free-flying near the surface of a manned orbital station and generation of the algorithm for initial orientation to the target using a TV camera installed at the end link of the manipulator were discussed. A procedure for construction of the domain of “creeping” speeds of the manipulator where the original model may be replaced by a simplified one was proposed. Consideration was given to the design of an algorithm for installation by the manipulator of a useful load at the given point of surface of the serviced station in the presence of information about the distance to the target. Examples of modeling the robot dynamics were presented to corroborate the efficiency of the proposed algorithms.