Cooperative Control of a Spaceshuttle / Manipulator System

우주선에 설치된 로보트 협동 제어에 관한 연구

The conventional resolved motion control is not applicable for the control of robots on the spacecraft on account of the floating base of the robots. When the robots perform the assembly or repair operations, the position and attitude of the base satellite are disturbed by the reaction force/moment caused by the robot motion. This reaction will cause error on the robot. motion. Therefore, we define a new type of Jacobian(Extended Jacobian) to minimize the effects of reaction on the accuracy of the robot performing assembly or repair operations. In this paper, we utilize the redundancy of the closed chain system to minimize the effects of the robot motion on the position and attitude of spacecraft. This will results in the accurate assembly and repair operations by the robot.