Coordinated control of multiple free-floating space robotic system

Author

Chang´an, Liu ; Kehe, Wu ; Xu Van

Author_Institution

Sch. of Comput. Sci. & Technol., North China Electr. Power Univ., Beijing, China

Volume

1

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

357

Abstract

This paper presents the coordinated control method of multiple free-floating space robotic system consisting of some space robots having manipulators and a floating object in the space micro-gravity environment. Firstly, the generalized Jacobian matrix (GJM) of multiple free-floating space robotic system is introduced. Secondly, the dynamic model of multiple free-floating space robotic system is founded and the dynamic function is introduced. Then, the dynamic control scheme is proposed to regulate object position and internal forces. Finally, the effectiveness of the method is verified by computer simulation.

Keywords

Jacobian matrices; aerospace robotics; artificial satellites; force control; manipulators; mobile robots; position control; time-varying systems; coordinated control; dynamic control; generalized Jacobian matrix; internal force control; manipulators; multiple free-floating space robotic system; object position control; space micro-gravity environment; Control systems; Force control; Jacobian matrices; Manipulator dynamics; Orbital robotics; Robot kinematics; Robotic assembly; Satellites; Space exploration; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626573

Filename

1626573