Research on FFSR Kinematics and Dynamics Modeling and its Parallel Coordination Motion Control

Abstract

Aiming at the attitude interference of space mechanical arm of free-flying space robot (FFSR) against the satellite body, parallel coordination motion control technology for space mechanical arm and satellite body is proposed in this paper. Firstly, the position and velocity at any point based on FFSR system can be expressed as a set of functions consisting of chain pole centroid vectors, and the kinematic model for FFSR has been set up. Secondly, the compact form of dynamical model in system centroid vector function for FFSR is set up with Lagrange method. Finally, inherent redundancy characteristic of FFSR system is applied to propose the parallel coordination motion control technology which simultaneously and effectively controls the motions of F satellite body and configuration of space mechanical arm. Transposition Jacobi controller with inertia feedback has been developed.