Continual Motion Control Based on RGJM for Space Robot

Based on the modified Denavit-Hartenberg (D-H) modeling methods for ground fixed base industrial robots and the conservation of momentum and conservation of angular momentum suitable for Space Robot (SR), continuous motion trajectory control modeling algorithm based on Recursive Generalized Jacobian Matrix (RGJM) for SR has been proposed and developed. First, kinematics model for SR is researched based on the principle of the ground-based Jacobian and modified D-H method. Then, the effective algorithms for controlling continuous motion trajectory and calculating recursive GJM of SR with visual feedback and torque feedback have been presented. Finally, correctness and validity of the algorithms proposed have been verified through three dimensional computer graphics simulation. The SR conceptual model and kinematics modeling method based on the modified D-H notation in this paper can be extended to any degree of freedom single arm or multi arm SR with tree structure link containing rotary joints and translational joints.