Time Optimal Tracking Control Approach for Suspended Gravity Compensation System

Abstract

A suspension system for studying the dynamic characteristics of space robots working under microgravity condition is introduced. The system can apply a constant force against the gravity of an operating target. The support point on system's end-effector synchronously tracking the motion of suspension object is expected to obtain long-time zero-gravity of the target satellite. According to dynamic model of suspension module, a "bang-bang" time-optimal programming which is a human simulated conception, and a precision tracking approach through coarse and precise periods is proposed. The control result is presented and verified by using numerical computation and simulation