Abstract
A mathematical model of the space robot free-flying in the inertial space in the mode of manipulative operation was developed. It comprises explicitly the coordinates of deviation of the manipulator end point from the target. A procedure to allow for use of the manipulator self-stopping drives in the motion model was proposed. Consideration was given to some issues of permissible simplification of the space robot model. The results of numerical modeling corroborating the expected closeness of the process dynamics in the original and reduced systems under the required condition for smallness of the speed of manipulator joints were given.
Similar content being viewed by others
References
Moosavian, S., Ali, A., and Papadopoulos, E., Free-Flying Robots in Space: an Overview of Dynamics Modeling, Planning and Control, J. Robotica, 2007, vol. 25, no. 5, pp. 537–547.
Papadopoulos, E. and Dubowsky, D., On the Dynamic Singularities in the Control of Free-Floating Space Manipulators, in Proc. ASME Winter Ann. M., San Francisco, Dec. 1989, ASME DSC-vol. 15.
Rutkovskii, V.Yu., Sukhanov, V.M., and Glumov, V.M., Motion Equations and Control of the Freeflying Space Manipulator in the Reconfiguration Mode, Autom. Remote Control, 2010, vol. 71, no. 1, pp. 70–86.
Popov, E.P., Vereshchagin, A.F., and Zenkevich, S.L., Manipulyatsionnye roboty: dinamika i algoritmy (Manipulative Robots: Dynamics and Algorithms), Moscow: Nauka, 1978.
Silaev, A.V. and Sukhanov, V.M., Mathematical Model of Free-flying Space Robot in the Mode of Manipulative Operation in the Outer Space, in Proc. Conf. “Control in Technical, Ergatic, Organization, and Networked Systems” (UTEOSS-2012), St. Petersburg: OAO “Kontsern TsNII “Elektropribor,” 2012, pp. 806–809.
Glumov, V.M., Zemlyakov, S.D., Rutkovskii, V.Yu., and Sukhanov, V.M., Technical Controllability of the Free-flying Automated Space Module, Autom. Remote Control, 2001, vol. 62, no. 3, pp. 370–382.
Alpatov, A.P., Belonozhko, P.A., Belonozhko, P.P., et al., Features of Designing Control Systems for Space Manipulator, Probl. Nelin. Anal. Inzh. Sist., 2012, vol. 18, no. 2(38), pp. 80–91.
Putz, P., Space Robotics, in Laboratory Astrophysics and Space Research, Ehrenfrend, P., et al., Eds., New York: Kluwer, 1999, pp. 547–596.
Rutkovskii, V.Yu., Sukhanov, V.M., and Glumov, V.M., Control of Multimode Manipulative Space Robot in Outer Space, Autom. Remote Control, 2010, vol. 71, no. 11, pp. 2345–2359.
Yaskevich, A.V., Mathematical Model of Space Manipulator for Semirealistic Development of Docking the Useful Load, Izv. Ross. Akad. Nauk, Teor. Sist. Upravlen., 2004, no. 4, pp. 157–176.
Author information
Authors and Affiliations
Corresponding author
Additional information
Original Russian Text © V.M. Sukhanov, A.V. Silaev, V.M. Glumov, 2015, published in Avtomatika i Telemekhanika, 2015, No. 8, pp. 153–164.
Rights and permissions
About this article
Cite this article
Sukhanov, V.M., Silaev, A.V. & Glumov, V.M. Dynamic equations of free-flying space robot for feedback control tasks. Autom Remote Control 76, 1446–1454 (2015). https://doi.org/10.1134/S0005117915080093
Received:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S0005117915080093