Reducing Base Reactions With Gyroscopic Actuation of Space-Robotic Systems

In this paper, control-moment gyroscopes (CMGs) are proposed as actuators for a spacecraft-mounted robotic arm to reduce reaction forces and torques on the spacecraft base. With the established kinematics and dynamics for a CMG robotic system, numerical simulations are performed for a general CMG system with an added payload. The analysis of an added payload´s effects on otherwise reactionless CMG systems motivates the examination of possible operations concepts to reduce base reactions and power consumption. Simulation results for an example closed-loop maneuver show that base reactions can be significantly reduced, or even eliminated, with CMG actuation while using the same amount of power as a robotic system driven by conventional joint motors.