Planning Of Space-Based Robotic Kinematics With Fully Cartesian Coordiantes And Dynamic Control Under Influnce Of Flexibility

In the future, the use of robot to finish the dangerous tasks of capturing,connecting and repairing , which not only reduce the dangerousness of airmen ,but also increase the span of work time. The assembling, repairing and examining of huge space station provide wild future promise. It is one of the fundamental task to discuss the characteristics of the space robotic modeling and control, especially the robot with flexible manipulators. The following work is discussed.The inverse kinematics of a space-based manipulator composed of three rigid bodies with prismatic joint are studied in the second chapter, and the Jacobean matrix for space manipulator is derived by fully Cartesian coordinates. A control method for space manipulator based on the resolved motion rate control concept is proposed. It is demonstrated by simulations that the control method is efficient and the fully Cartesian coordinates is practically efficient. Then the inverse kinematics of dual free flying space manipulator are mainly discussed in the third chapter, and the Jacobean matrix for dual manipulator space robot is derived by fully Cartesian coordinates, a control method for space manipulator based on the resolved motion rate control concept is proposed. Then, the computer simulation verifies the effectiveness of the algorithm.The very important works by the researchers in the modeling and control for flexible manipulators are introduced; The equations of the non-holonomic constrain and dynamics are formulated .On the base of dynamic model function derived by the planar two-link flexible manipulator, the model function can be obtained by coordinate transformation; at last the control scheme based on model of the system is put in to use to insure track desired trajectory of joint angle. The simulation results by this algorithm are presented.