›› 2015, Vol. 35 ›› Issue (5): 15-21.doi: 10.3780/j.issn.1000-758X.2015.05.003

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Zero Reaction Motion Trajectory Tracking for Space Manipulator with Non-zero Initial Momentum

LIAO  Zhi-Xiang1, SHI  Peng1, ZHAO  Yu-Shan1, ZHENG  Han-Qing2   

  1. (1SchoolofAstronautics,BeihangUniversity,Beijing100191)
  • Received:2015-04-28 Revised:2015-07-14 Online:2015-10-25 Published:2015-10-25

Abstract: The free-floating manipulator system with non-zero initial momentum was studied.The configuration parameters of the manipulator system and the Lagrange equations were used to build the dynamic model.  In order to eliminate the coupling effects between the base and the manipulators in angular velocity,the zero reaction motion equation was derived by using the manipulator system redundancy. A polynomial interpolation method was used to approach the trajectory of end-effector and the trajectory was planned due to the initial and final position of end-effector which could turn workspace of end effector into joints space. A suitable proportion-differentiation (PD) control algorithm was designed to drive manipulators movement. Simulation results demonstrate that the end-effector can smoothly track the target and the movement of the manipulator doesn′t make any disturbance to the base′s attitude at the same time and the spacecraft also can work normally because of the stability of base.

Key words: Spacemanipulator, Trajectorytracking, Zeroreactionmotion, PDcontrol, Polynomialinterpolation, Spacecraft