Use of Kinematic Redundancy for Design Optimization in Space-Robot Systems

摘要

This paper proposes a unified approach for designing a space-based robot. Kinematic redundancy is used to minimize the deviations of the reaction forces and moments exerted by the robot on a space station. This is expected to minimize the control effort that is needed to maintain the orbit and also to minimize the consumption of valuable control fuel. Next, a parametric design optimization is proposed to shape the optimal cost function. The control system of the robot-space-station system should be developed by taking this optimal design into consideration. In the unified approach, trajectory/operation optimization, parametric design, and controller development are integrated. A group technology approach is proposed to achieve a global design for the space-based robot. An illustrative example is presented to show the potential of using trajectory optimization, as described here, in minimizing the control effort and in achieving design improvement for a space-based robot.