THE KINEMATICS, DYNAMICS, AND CONTROL OF FREE-FLYING AND FREE-FLOATING SPACE ROBOTIC SYSTEMS

The dynamics of space robotic systems can be quite complex and bence their control can be difficult. In this paper some important dynamics and control problems, unique to space robotic systems are discussed. Particular attention is paid to free-flying and free-floating space robots that might be used for such tasks as space station repair and construction. Recent advances made by the research community in solving these problems are briefly reviewed. Three examples of promising methods for planning and controlling the motion of space robotic systems are presented. It is suggested that a thorough understanding of the fundamental dynamics of these systems, will result in effective solutions to their control problems.