Analysis of dynamics of a floating-base N-DOF space manipulator system

摘要

This paper firstly provides a whole modeling process of floating-base space manipulator systems (FBSMS) and proposes a general formula of dynamical equation of two dimensional (2-D) and three dimensional (3-D) systems, which can help us obtain a better understanding of dynamical structure of FBSMS. Then, the fundamental reason why coupled dynamics phenomenon is raised, and decoupling analysis procedure of dynamics between a manipulator and a floating base is given. Finally, a contrast test is conducted to prove that motion of manipulator will decrease positioning accuracy of the end-effector in floating base case.