The measure of dynamic coupling of Space robot systems

摘要

The dynamic coupling of a Space robot system with a free-floating base that could be a Spacecraft, Space station, or satellite, is discussed. The dynamic coupling factor of robot end-effector motion is formulated with respect to base motion, and vice versa. Based on the coupling factor, a measure is defined to characterize the degree of the dynamic coupling. The measure can be considered as a performance index in planning robot motion, or in evaluating robot trajectory for minimizing base motion, or in optimizing the robot configuration design and selecting the robot base location. An example is given to illustrate the computational procedure and simulation results of the defined measure. A force coupling factor and the corresponding measure are developed, by which it is clarified that minimizing the base force transmission is not equivalent, but opposed to minimizing the base motion coupling.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>