An efficient algorithm for the inverse dynamics computation of space manipulators

摘要

A free-flying space robot has kinematic and dynamic features different from those fixed on the Earth because of the momentum constraints that govern its motion. The authors present the solution to the inverse dynamics problem of a space robotic system in the presence of external generalized forces. While solving for the inverse dynamics, 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. Space robotic systems have an intrinsic feature that can be utilized to reduce the computational time by parallel recursion. Finally, the scope of parallel recursion is discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>