Orientation control of 3D free-flying robots - 2nd report: stabilization strategy by smooth, time-invariant, state feedback law

摘要

This paper proposes a control strategy of 3D free-flying linkage robot systems, which can make the base orientation and the arm configuration simultaneously converge to desired states. Mainly since its constraint is non-Chaplygin, the feedback control of 3D free-flying robot had been difficult to accomplish, compared to the case of planar robots. The proposed controller time-invariantly generates smooth Lie bracket motions. The keys of the strategy are (I) selecting two of the system's DOF, (II) coordinate transforming the configuration variables to Fourier basis coordinate form, (III) defining the system limit orientation and its approximation form. This can be surely applicable to the systems with more than 3DOF. A couple of simulation results showed its efficacy and practicability.