Dynamics and Momentum Equalization Control of Redundant Space Robot with Control Moment Gyroscopes for Joint Actuation

摘要

This paper focuses on the dynamic modeling and momentum equalization control algorithm for a space robot comprised of a platform and a redundant manipulator actuated by control moment gyroscopes(CMGs). A computer-oriented dynamic model is developed for simulation and controller design, and the effect of CMGs is introduced through torque equation neglecting the varying part of CMGs' inertia. The translational degrees of freedom of the platform are decoupled from the system dynamic equation, since platform orientation and manipulator motion are the major considerations in many cases. A model-based controller with acceleration-level redundancy resolution of the manipulator is developed for coordinate control of platform orientation and manipulator motion. The platform can maintain a fixed orientation while the manipulator tracks an operational space trajectory. To deal with the saturation problem of the CMGs, manipulator redundancy is used to equalize the CMGs momentum usage among manipulator links by decreasing a momentum equalization index. Simulation is used to verify the control technique.