Jacobian control for space manipulator

Abstract Parlaktuna, O., Cook, G.E., Strauss, A.M. and Fernandez, K., Jacobian control for space manipulator, Robotics and Autonomous Systems, 11 (1993) 35–44. To control robot or teleoperated manipulators in space, the motion of the satellite (which is actually the base of the manipulator) which will move due to the force exerted by the moving manipulator, must be considered. Most of the algorithms developed to control a robot manipulator assume that the manipulator is connected to a fixed base. Since the satellite moves due to the motion of the robot manipulator, the control schemes developed for fixed-base manipulators cannot be used for space robots and telerobots. In this paper, using a modified resolved motion rate control and angular momentum conservation law, a generalized Jacobian matrix is derived to control the space manipulator. It is shown that a manipulator controlled in this manner follows a prescribed path independent of the motion of the satellite.