Efficient Computation Algorithms for Manipulator Control of a Space Robot

摘要

Computational algorithms for control of manipulators mounted on a free-flying space robot are considered in this paper. Such manipulators differ from base-fixed ones, because the motion of the satellite body is affected by that of the manipulator. Although the generalized Jacobian or the resolved acceleration control of the space robot was proposed by taking account of the body motion, a large amount of computation Was required to execute these control schemes in 3 dimensional space. We propose here effective algorithms to calculate the generalized Jacobian, the inverse dynamics and the resolved acceleration control for those manipulators.