Modeling of Impact Dynamics and Control for Coordinated Motion of Space Manipulator

摘要

The impact dynamics and control of free-floating space manipulator is discussed. The impact dynamics of system is modeling. To simulate the post-impact dynamics, the velocities of base's attitude and each joint after impact are derived from the impact model. Based on the results, the controller is designed for the free-floating space manipulator. The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.