Experimental study on the dynamics and control of a space robot with experimental free-floating robot satellite

摘要

This paper presents an experimental study on the dynamics modeling and control of a free-floating space robot. In order to experimentally study the physical behavior of floating linkage dynamics and validate the practical availability of control schemes, the author developed the Experimental Free-FlOating RoboT Satellite (EFFORTS-I and -II) simulators, which enable us to examine two-dimensional pseudo-micro gravity motion dynamics using air lift systems. The robot models, comprising a satellite base body and articulated manipulator arm(s), make horizontal motions without mechanical disturbances or external forces. Theoretical concepts and corresponding experimental results are illustrated for the following topics that are relevant to the future of space robotics research and possible practical missions: (1) hardware design and development of the EFFORTS simulators, (2) dynamics modeling and basic control concepts for space free-floating manipulators, (3) target chasing and capturing control experiments, and finally (4) modeling of impact dynamics at collision or floating target capturing.