Nonholonomic Motion Planning And Control Of One-arm And Dual-arm Space Robot Systems

With development of space technology, space robots especially to free-floating space robots (FFSR) are applied widely. The FFSR is made of a space vehicle and manipulators fixed on the space vehicle. It can float freely in space and take the place of astronauts to work on orbits. The space vehicle is not controlled at work, so the fuel used to control the vehicle location and orientation can be saved. In order to save the outlay of space science and technology, the paper will discuss mainly free-floating space robots. In the second and forth chapters, no base-disturbance nonholonomic motion planning of the space robot system with prismatic joint and the dual-arm space robot system is discussed via the bi-directional approach. With the linear and angle momentum conversation, the system state equations for control are gained. And then Through the Lyapunov approach, the input law of the manipulator joint motion and control for work is received. Via the bi-directional approach, the synthesized trajectory is found so that the vehicle orientation and the manipulator joint location can be controlled. Based on the hierarchical Lyapunov approach, the hierarchical nonholonomic motion planning for obstacle avoidance of the space robot system with prismatic joint is discussed in the third chapter. The hierarchical Lyapunov approach utilizes the nonholonomic nature. With the momentum conversation and the Jacobian matrix, the system state equations and the control output equations for control design are established. And then the primary and secondary Lyapunov functions are selected to achieve the endeffector implements the specific movement and realizes obstacle avoidance. In the fifth and sixth chapter, trajectory tracking control in inertia space of the dual-arm space robot system is studied. First, the dynamic equations are derived through the Roberson-Wittenburg formulation in the fifth chapter. And then in the sixth chapter, trajectory tracking control in inertia space is realized via the computed torque method based on the dynamic equations formulated in the fifth chapter.