Efficient computational algorithms for trajectory control of free-flying space robots with multiple arms

Efficient computational algorithms for the trajectory control of multiarm free-flying space robots are presented. The motion of the aircraft itself during manipulation is considered in order to obtain an accurate trajectory control. The generalized Jacobian of multiarm free-flying space robots is obtained efficiently by regarding the total multilink system as a composite system consisting of two links with a joint. The algorithm can be easily extended to any tree-structured multiarm robot with rotational as well as prismatic joints except for closed-loop structures. An efficient computational algorithm for the resolved acceleration control of the multiarm free-flying robots is also presented. The computational complexities are evaluated and compared to those of fixed-base manipulators. It is shown that the computational complexity for the generalized Jacobian is five times greater than that for fixed-base manipulators whereas the resolved acceleration control requires twice the computation for fixed-base manipulators