Hybrid modeling and analysis method for dynamic coupling of space robots


Resolving linear and angular momentum conservation equations in several ways that, a hybrid technique was proposed to model and analyze the dynamic coupling of a space robotic system. This methodology dealt with the coupling issues for the base's centroid position at the position level and perspective at the speed level. Based on the bottom centroid virtual manipulator concept, the coupled area was addressed to represent the base's centroid position coupling. For different cases, the reachable coupled space, attitude-constrained coupled space, and free coupled area were defined. However, the coupling for the base's velocities was decomposed into joint-to-base rotation, joint-to-base translation, finish-to-base rotation, and end-to-base translation coupling varieties. The dependence of the rotation and translation coupling was revealed, and therefore the coupling factors were determined to live the coupling degree. Then, the coupling effect for various loads, installation positions, and joint configurations was analyzed. Coupled maps were established to plan the trajectory for minimizing disturbance. Compared with previous works, dynamic coupling at the position level avoids the singularity drawback for solving differential equations; at the speed level, every kind of coupling motion was separately modeled and analyzed for various needs. The proposed methodology is useful for practical applications, like planning a brand new manipulator or using an existing robotic system.

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