INFLUENCE OF NONLINEARITY OF MODEL OF FREE-FLYING SPACE ROBOT ON ITS DYNAMICS WHEN CONTROLLING A MANIPULATOR
Vladislav Rutkovsky, Viktor M. Sukhanov, Victor Glumov
The paper considers a mechanical system that comprises a main body (carrier rigid body) with a swivel link to a system of carried bodies (multilink manipulator). A free-flying space manipulation robot (SMR) is an example of such a system. The paper introduces a nonlinear object model with discrete dynamics. The influence of the nonlin-ear terms (products of generalized velocities) of the object model on the control dynamics of manipulator operations is investigated. The paper defines the applicability conditions of a quasi-linear (simplified) SMR-model to syntheses of manipulator control algorithms for some operating modes of the space robot. A control algorithm was developed for the task of a payload installation on an orbital vehicle surface. The system simulations results confirm the efficiency of the suggested algorithms.