Normal Forms of a Free-Floating Space Robot
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This paper is devoted to the dynamics of a free-floating space robot consisting of a mobile base (a spacecraft) and an on-board manipulator. Lagrangian equations of motion are derived. Special attention is paid to the equation resulting from the conservation of the angular momentum. This equation is represented in the form of a control system driven by joint velocities of the on-board manipulator. The main result of this paper consists in showing that this control system can be transformed by feedback to the chained form. Explicit form of the feedback transformations has been found for the case when the on-board manipulator is mounted at an arbitrary point of the base, and compared with the previously studied case of mounting point fixed at the center of mass of the base.
KeywordsSpace robot Dynamics Feedback Chained form
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