宇宙用冗長マニピュレータのモデリングと制御

抄録

This paper presents kinematic redundancy control for a space free-flying manipulator, in order to prove that a redundant degree of freedom is useful for controlling base satellite attitude during hand operation. At first, as a general discussion, the redundancy in space manipulation is defined and the arrangement of redundant actuators is discussed. Then, the serial-link redundant manipulator is investigated for two control tasks: satellite attitude-velocity control and manipulator handvelocity control. Inverse kinematic solutions, which satisfy both attitude and hand control tasks only through manipulator joint operation, are derived analytically. Computer simulations show that manipulator and satellite motion can be successfully coordinated by means of the proposed redundancy control, without usage of external devices for attitude control or propellant consumption by jet thrusters.