抄録
In this paper we deal with the modeling and control problems of a free-flying teleoperator with manipulators. As the motion of the manipulators is interacted with the motion of the satellite body, the dynamics and control problems become more complicated than ground-based manipulators. We first expand the inverse dynamics scheme using Newton-Euler formulation, which is successfully applied to ground-based manipulators, to the satellite-mounted manipulators, and derive the equations of motion of the teleoperator system by the use of the inverse dynamics scheme. The procedure to obtain the equations is rather simple in spite of the topological tree configuration of the teleoperator. Then, we consider the control method of the teleoperator system, the satellite attitude control and the manipulator joint control. The method we propose here is the feedback control in which the satellite linear acceleration is estimated first and then the satellite and manipulator control torques are calculated. This control method is verified by a simulation study.
