Utilization of Distributed Momentum Control for Planning Approaching Trajectories of a Space Manipulator to a Target Satellite

Abstract

This paper addresses the trajectory planning problem for robotic manipulators mounted on a freefloating base satellite. The motion planning is formulated as an optimization problem from viewpoint of angular momentum distribution among the manipulator arm and the system of reaction wheels. This approach determines what momentum redistribution should be performed in order for the manipulator system to satisfy given constraint conditions. The case when only the manipulator joints are actuated is considered. No base attitude compensation via thrusters is necessary. The utilization of the Distributed Momentum Control (DMC) in combination with the trajectory generated by the optimization procedure ensures a minimal base attitude deviation during the approach to a target satellite.