Adaptive Control of a Free Flying Space Manipulation Robot in the Working Area when Assembling a Large Space Structure in Orbit

摘要

The operation of the space manipulation robot in the free drift mode during the installation of the part when assembling a large space structure in space is considered. The analysis of the mathematical model of plane motion with the manipulative functioning of the robot in the working area is presented. The region of stability on the plane is determined in the coordinates of the hinge angles of the links of the manipulator, which allows us to distinguish the ranges of these angles at which the movement of the robot becomes unstable. This circumstance is taken into account when synthesizing adaptive control algorithms.