Control by multi-link manipulator of a free-flying space robot

  • Victor Glumov
  • Vladislav Rutkovsky

Abstract

It is considered of a space manipulation robot function in the regime of the free drift at which the task of control by a manipulator is solved in the class of systems with feedback. As the control object, the free-flying space manipulation robot represents the mechanical system consisting of the case and a swivel link to it the body system (the iterative manipulator). The case is supplied by own control system of position in space. The possibility of building a combined energy-saving motion control of a free-flying space manipulation robot is considered. The problem of the free-flying space manipulation robot reduction in an initial state before the payload installation is solved. The notion of technical controllability of the free-flyer was introduced. Conditions of applicability of simplified mathematical models are defined at the synthesis of control algorithms by the manipulator which is carrying out operations in a robot working zone.

Published
2019-11-18