Interaction Between Motions of Robotic Manipulator arms and the Non-Fixed base in On-Orbit Operations

ABSTRACT: The objective of this paper is to study the problem of the robotic manipulator operating on a non-fixed base by considering two dynamics scenarios. One in which the base is free to react in response to the robotic manipulator motion and the other in which the robotic manipulator moves its links in such a way to compensate the reaction forces on the platform so as to keep it stable. This approach is passive in the sense that no additional control effort has to be done to compensate the effects of the reaction forces on the platform. The methodology to approach the problem includes lab...