Acceleration-level control of a kinematically redundant manipulator on a free-flying space robot

摘要

Kinematically redundant manipulators possess the capacity to fully or partly carry out a secondary task in addition to a primary task such as the endeffector operation. For free-flying space robots with redundant manipulators, attitude disturbance minimization is useful as a secondary task. This paper focuses on acceleration- level control of redundant manipulators on free-flying space robots. In many cases, acceleration-level control of a redundant manipulator has the problem of generating the endmotion joint velocities: joint velocities remain at the end of a task where the end-effector has been stabilized. This problem requires further control to fade away the remaining motion. In this paper, an acceleration- level control method without the problem is proposed. Since the control method is derived from time differential of a velocity-level control method guaranteed not to generate the endmotion joint velocities, it does not include the troublesome property. The numerical simulations verify its superiority over other acceleration-level control methods and apply it to control for capturing a drifting target.