Free-flying robots in space: an overview of dynamics modeling, planning and control

  • Authors:

  • S. Ali A. Moosavian;Evangelos Papadopoulos

  • Affiliations:

  • Department of Mechanical Engineering, K. N. Toosi University of TechnologyPO Box 16765-3381, Tehran, Iran. E-mail: moosavian@kntu.ac.ir;Department of Mechanical Engineering, National Technical University of Athens, 15780 Athens, Greece. E-mail: egpapado@central.ntua.gr

  • Venue:
  • Robotica
  • Year:
  • 2007

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Abstract

Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.