Formulation and efficient computation of inverse dynamics of space robots

摘要

A free-flying space robot for the construction and maintenance of space structures is considered. Such a robotic system has kinematic and dynamic features that differ from those fixed on the earth mainly because of the momentum constraints that govern its motion. The solution to the inverse dynamics problem of a space robotic system in the presence of external generalized forces is presented. The computations for the inverse kinematics are considered simultaneously, and both computations are developed on the basis of momentum constraints. An efficient computational scheme for the inverse dynamics problem is then established. An intrinsic feature of space robotic systems that can be utilized to reduce the computational time by parallel recursion is discussed, as is the importance of the role of momentum constraints in the solution of inverse dynamics.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>