Dynamics Modeling and Simulation Analysis of 6-DOF Space Manipulator

摘要

This paper concerns the dynamics modeling and simulation analysis for a 6-dof mechanical arm system of free-flying space robot (FFR). In most practical situation, a kind of control strategy for space robot is often adopted in order to save the fuel in motion, in which the attitude angle of space robot only beyond some scope will be controlled. Therefore, a new modeling idea based on this strategy is proposed for the underlying system by incorporating the free-floating and free-flying of space robot into a unified framework. The validity of the new modeling idea is demonstrated by simulation and the disturbance torque to satellite body in the motion can be further solved.