Robot motion control in zero-gravity conditions

Abstract

We have considered the motion control of a space robot composed of a body and a telescopic manipulator arm. The robot is in the state of free passive flight. The vector of the number of movements and the kinetic moment of the robot relative to the center of mass are zero. The manipulator arm motion causes a corresponding motion of the robot body (change in the position of the center of mass of the body and its rotation). Unlike earlier results, we have revealed that the robot grip can be shifted from an arbitrary initial position to an arbitrary final position inside the operating area and, in addition, the required (most convenient for operations) angle between the manipulator arm and the robot body in the final position can be obtained.