Trajectory planning of 2 DOF planar space robot without attitude controller

摘要

Abstract. Control of a space robot is difficult as its base is not fixed. Due to this any motion of joints gives a reactive motion of the base. This changes the attitude and position of the base. Change of position of the base of space robot is not a problem as minor movements are permissible but the change of attitude seriously affects the orientation of antenna, solar panel. This work presents the tip trajectory path planning of planar space robot without the use of attitude controller device so that base will not get disturbed due to dynamic reaction forces and moments. Bond graph was adopted for modeling as it facilitates the system modeling from the physical paradigm itself, and it is easy to develop various control strategies by modifying the physical paradigm.