An efficient algorithm for the inverse dynamics of free-flying space robots, consisting of a serial manipulator mounted on a free-base, e.g., a spacecraft, is presented. The kinematic and dynamic models are based on the concepts of the Primary Body (PB) and the Natural Orthogonal Complement, respectively, reported elsewhere. In this paper, besides the efficiency, the usefulness of the PB in deriving different kinematic models and selecting an efficient one is pointed out. Moreover, it is shown that a recursive algorithm for the inverse dynamics of the space robot at hand can be developed even without the consideration of the momenta conservation principle.

Issue Section:
Technical Briefs
Topics:
Algorithms, Dynamics (Mechanics), Robots, Kinematics, Dynamic models, Manipulators, Momentum, Space vehicles
1.
Angeles
J.
, and
Lee
S.
,
1988
, “
The Formulation of Dynamical Equations of Holonomic Mechanical Systems Using a Natural Orthogonal Complement
,”
ASME Journal of Applied Mechanics
, Vol.
55
, Mar., pp.
243
–
244
.
2.
Egeland
O.
, and
Sagli
J. R.
,
1993
, “
Coordination of Motion in a Spacecraft/Manipulator System
,”
Int. J. of Rob. Res.
, Vol.
12
, No.
4
, pp.
366
–
379
.
3.
Denavit
J.
, and
Hartenberg
R. S.
,
1955
, “
A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
,”
ASME Journal of Applied Mechanics
, Vol.
77
, pp.
215
–
221
.
4.
Mukherjee
R.
, and
Nakamura
Y.
,
1992
, “
Formulation and Efficient Computation of Inverse Dynamics of Space Robots
,”
IEEE Trans. on R&A
, Vol.
8
, No.
3
, pp.
400
–
406
.
5.
Saha, S. K., 1996, “A Unified Approach to Space Robot Kinematics,” IEEE Trans. on R&A, will appear in Vol. 12, No. 3, June.
6.
Saha, S. K., 1994, “A New Method for Kinematics of Space Robots,” Proc. of the Japan-USA Symp. on Flexible Aut., Kobe, Japan, July 11–13, Vol. II, pp. 447–450.
1.
Saha
S. K.
, and
Angeles
J.
,
1991
, “
Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement
,”
ASME JOURNAL OF APPLIED MECHANICS
, Vol.
58
, Mar., pp.
238
–
243
;
2.
“
Discussion/Authors Closure
,
ASME JOURNAL OF APPLIED MECHANICS
, ” Vol.
59
, Mar.,
1992
, pp.
242
–
244
.
1.
Stewart, G. E., 1973, Introduction to Matrix Computations, Academic Press, NY.
2.
Tsuchiya, K., and Ohga, T., 1993, “Inverse Kinematics and Dynamics of Space Manipulators,” Proc. of the 3rd Workshop on Astrodynamics and Flight Mechanics, Sagamihara, Japan, Sept. 27–28, pp. 174–179.
3.
Umetani
Y.
, and
Yoshida
K.
,
1989
, “
Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix
,”
IEEE Trans. on R&A
, Vol.
5
, No.
3
, pp.
303
–
314
.
4.
Walker
M. W.
, and
Orin
D. E.
,
1982
, “
Efficient Dynamic Computer Simulation of Robotic Mechanisms
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
104
, Sept., pp.
205
–
211
.
5.
Yamada
K.
, and
Tsuchiya
K.
,
1990
, “
Efficient Computation Algorithms for Manipulator Control of a Space Robot
,” (Japanese),
Soc. of Instrument and Control Engineers Trans.
, Vol.
26
, No.
7
, pp.
765
–
772
.
This content is only available via PDF.
Copyright © 1996
 by The American Society of Mechanical Engineers
You do not currently have access to this content.