Invited Survey Paper on Robotic Manipulators in Space: A Dynamics and ControlPerspective

摘要

Large robotic manipulators are play a key role in assembly, maintenace, andservicing of future complex in-orbit infrastructures. The first generation space manipulator is the Canadian Remote Manipulator System (RMS), in orbit since 1981. A second generation of large space manipulors is the Canadian Remote Manipulator System (RMS), in orbit since 1981. A second generation of large space manipulators is presently under development, for use on the International Space Station: the Space Station RMS, the European Robotic Arm, and the Japanese Experiment Module RMS. Large robotic space manipulators pose significant challenges to the dynamics and control community. This survey paper discusses dynamics and control community. This survey paper discusses dynamics modelling issues and control schemes for such systems.