Attitude Dynamics and Control of a Space Station Containing a Space Remote Manipulator System (RMS)

Abstract

This work provides some important information about space remote manipulator systems, mainly those systems characterized by robotic arms to provide service in space, such as grasping and moving payloads onboard space stations. The main goal is to show that space structures as well as space robots differ from Earth-based structures and robots. The focus of this paper is mainly on problems such as interactions between the robot and the spacecraft attitude dynamics and control. Finally, the paper presents a study of the attitude dynamics and control of a space station carrying a large robotic manipulator. The results regarding the interaction of the robot dynamics with the space station rotational and translational motion when the robot moves on the station are shown in graph format. The manipulator dynamics affects the nominal attitude quickly and significantly. The decision of keeping the attitude control system on during the manipulator maneuvering should be taken on the basis of time and energy expenditure requirements to recover the nominal attitude, as well as on the basis of risks that may evolve if the attitude control system is left on.