Trajectory Planning for a Space Robot Actuated by Control Moment Gyroscopes

摘要

For CMGs employed as actuators for redundant space robotic systems, the possibility of saturation can be effectively reduced by proper trajectory planning algorithms. A scalar measurement is defined to characterize the possibility, and two acceleration-based planning algorithms are proposed for simultaneous manipulation variable tracking and unnecessary saturation avoidance. In each algorithm, a null motion is constructed using system redundancy to reduce the possibility of CMG saturation while without affecting the manipulation variables. The algorithms can be applied to both attitude-controlled systems and free-floating systems. The two algorithms produce the same trajectories under the same null motion gains, but the algorithm based on projection matrix has better computational efficiency.