抄録
This work describes energy consumption under reaction control in free-flying space manipulators. We compare two reaction control methods: Reaction Null space based reactionless manipulation and reaction-wheel based control. The following practical tasks are considered: (i) inspection maneuver using a hand camera, (ii) deployment maneuver from the stowed configuration and (iii) point-to-point maneuver. From the results, we can confirm that reactionless manipulation has an advantage from the perspective of energy consumption.
