Base reaction control for space-based robots operating in microgravity environment

摘要

Specialized robots are needed for space stations to conduct experiments and operations without disturbing the microgravity environment through base reactions and/or base motions. Approaches for controlling the robot base include 1) manipulators with redundant degrees of freedom, 2) actuators at the robot base, and 3) a redundant (balancing) arm. An approach making use of manipulator kinematic redundance is explored in detail and both locally and globally optimal trajectory management schemes are discussed. The inverse kinematic problem is solved at discrete time steps simultaneously with the minimization of the robot's base reactions. Numerical examples are presented including various robotic configurations and degrees of manipulator kinematic redundance. A significant reduction in base reactions is observed in each case.