Reactionless resolved acceleration control with vibration suppression capability for JEMRMS/SFA

Abstract

We propose an integrated motion controller for the Japanese experimental module RMS/SFA ldquomacro-minirdquo manipulator system on the International Space Station. This controller is based on the reaction null-space concept described in previous works. The performance of this controller with a planar flexible-base manipulator has been studied in [1]. Here, we show how to implement the controller for the JEMRMS/SFA system and examine its performance via simulations. Results show that end-effector path tracking combined with reactionless motion and vibration suppression can be achieved in a stable way, by making use of the inherent kinematic/dynamic redundancies of the system.