Dynamic control of free-flying coordinated space robots

摘要

The position and force control of coordinated robots mounted on spacecraft manipulating objects with closed kinematic chain constraints, represents an important class of control problem. In this paper, the kinematics and dynamics of such coordinated space robotic system with closed kinematic constraints are established based on these models, an approach to position and force control of free-playing coordinated space robots is proposed. The proposed control method takes into account the dynamics of the object to be manipulated and the interaction between this object and the end-effectors. The object position and internal forces due to the interaction between the object and the end-effectors are regulated simultaneously. The stability of the closed-loop free-flying coordinated robotic system is analysed using the error models of the object position and internal forces. The errors in the object position and internal forces asymptotically converge to zero under the assumption of exact kinematic and dynamic models.