Abstract
In this paper, we consider a Free-Flying space Robot (FFR) on which no external forces or torques are exerted. We propose to control the orientation of the base of FFR by using only motion of the robot joints. In this sense, we define a new controllability concept called “densely controllable”. A sufficient condition is provided to identify whether a robot system is densely controllable. Based on these, we propose a attitude maneuver algorithm for FFR. Computer simulations demonstrate the applicability of the algorithm.
