A Situation Control of Robotized Space Module as Multimode Dynamic Object

Abstract

Problem statement: assembly and service robotized space module (ASRSM). An important feature of the system that determines the specifics of the controlled motion modes is the presence of a free (movable) base in the inertial space. The authors consider the problem of situation control over the movement of large cargo in relation to a moving platform with the help of a manipulator. Purpose of research: Under specific conditions for the mode with the absence of superposed forces some reduced system can be considered as a control object. In this case the use of the reduced system proper motions corresponding to the initial system inertial motions in terms of their internal degree of freedom is efficient at control synthesis in the number of situations. In particular, the control over cargo movement in relation to the moving platform built with the use of “ballistic” motions of the reduced system is optimal for energy input minimization. Results: It is demonstrated that for the plane motion of a robotized module with a single-level manipulator the reduced system is a non-linear oscillatory system. In addition to mass-inertia and geometrical properties of the initial system (mechanical design model of a robotized space module), the reduced system proper motions are also defined by the initial system kinetic momentum. The initial system kinetic momentum depends on the initial motion conditions for some current operation mode defined by the previous operation mode of the robotized space module in the situation control problem. The problem of bringing the system from some initial position to some required one is considered. It is shown how the nature of control changes depending on the changes of the phase portrait determined by the conditions of situational control.