MOTION CONTROL OF SPACE MANIPULATORS BY USING DYNAMIC MANIPULABILITY ELLIPSOID

摘要

This paper proposes a method of on-line motion planning of a free-flying space robot to reduce the required joint torque for hand manipulation. The proposed method controls the major axis of the dynamic manipulability ellipsoid (DME) of the robot by using redundant degrees of freedom in the manipulator motion and keep the major axis in the direction of the desired end-effector motion as close as possible. The result of the numerical simulations for a model of planer 3-link space manipulator shows that the present local path planning and motion control algorithm is effective in reducing the joint torque for the manipulation.