Coordinated Motion Control of Freeflying Space Robot System
自由飞行空间机器人系统的协调运动控制

The coordinated motion control of manipulator/spacecraft system is investigated in this paper. A new coordinated control scheme is proposed, in which the motion of the spacecraft is controlled using a simple variable structure control scheme and the manipulator is controlled to track the desired end-effector trajectory. The proposed scheme is applied to the controller design of free-motion and constrained motion of the manipulatorts end-effector. A two- link planar space robot system is simulated to verify the effectiveness of the control scheme.