Modeling and control of a free-flying space robot interacting with a target satellite

In the thesis a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows considering the generalized contact forces between the space robot end-effecter and the target satellite as internal forces rather than external forces. As a result of this approach, linear and angular momentum will form holonomic and nonholonomic constraints, respectively. Meanwhile, restricting the motion of the space robot end-effector on the surface of the target satellite will impose geometric constraints. The proposed momentum of the combined system under consideration is a generalization of the momentum model of a free-flying space robot.; A physical interpretation of holonomy/nonholonomic constraints is analyzed based on d'Almberts-Lagrange dynamics and reveals geometric conditions that generate such a behavior. Moreover, a nonholonomy criterion is proposed to verify the integrability of momentum constraints by using a linear transformation via orthogonal projection techniques and singular value decomposition. This criterion can be used to verify the holonomy of a free-flying space robot with or without interaction with a target satellite and to check whether these constraints or their initial conditions are violated.; Based on this unified model, three reduced models are developed. The first reduced dynamics can be considered as a generalization of a free-flying robot without contact with a target satellite. In this reduced model it is found that the Jacobian and inertia matrices can be considered as an extension of those of a free-flying space robot. Since control of the base attitude rather than its translation is preferred in certain cases, a second reduced model is obtained by eliminating the base linear motion dynamics. For the purpose of the controller development, a third reduced-order dynamical model is then obtained by finding a common solution of all constraints using the concept of orthogonal projection matrices. (Abstract shortened by UMI.)...