Torque optimization control in space robots with a redundant arm

Presents a coordinated control of multiple manipulators in space free-floating robots. The authors firstly develop the generalized Jacobian matrix and equation of motion for a space robot with multiple arms, then propose a new control method optimising the sum of squared control torque in the sense of local (instantaneous) minimization by means of redundancy. The method is applied to realistic models installing a mission arm and reaction wheels, and also a redundant arm. Through the simulation study, this paper shows that the installation and utilization of the redundant arm has great effectiveness in terms of reducing the burden of reaction wheels for satellite attitude control