On the dynamics of manipulators in space using the virtual manipulator approach

TLDR

Future spacecraft will use robotic manipulators for tasks such as satellite servicing, but dynamic coupling with the vehicle poses challenges that the recently developed Virtual Manipulator concept aims to model. The paper demonstrates that the Virtual Manipulator enables planning and control of spacecraft‑mounted manipulators while reducing adverse dynamic interactions. The Virtual Manipulator is a novel theoretical framework for designing and developing future space manipulator systems. The study finds that using the Virtual Manipulator reduces the negative effects of manipulator–vehicle dynamic coupling during planning and control.

Abstract

Robotic manipulators carried by future spacecraft are expected to perform important tasks in space, like servicing satellites. Such applications will encounter problems due to the dynamic coupling between the manipulator and the spacecraft. A Virtual Manipulator (VM) concept has been developed recently for the modelling of manipulators working in space. This paper shows that the VM facilitates planning and control of the motions of manipulators mounted on spacecraft, that minimizes the degrading consequences of manipulator/vehicle dynamic interactions. The VM is a new theoretical approach for the design and development of future space manipulator systems.