Authors: This paper presents the theoretical formulation and the experimental validation of an innovative algorithm for the kinematic inversion of redundant free-flying space robotic systems, which causes minimum attitude disturbances on the spacecrafts on which they are mounted. The subject is of particular interest because robotic systems used in space need to limit induced spacecraft attitude disturbances while performing manipulator manoeuvres in order to avoid communications problems. Reduced spacecraft attitude disturbances will result in a lower fuel consumption, and therefore in an increase of the system useful life. The proposed algorithm is based on the use of a weighted pseudo-inversion of the Jacobian matrix of the robot and is aimed at minimizing the torque transferred to the spacecraft due to the robotic arm movement during continuous end-effector path tracking. The algorithm has been tested using a 3D free-flying robot previously tested in an ESA Parabolic Flight Campaign. In this test campaign the 3D robot has been converted in a 2D robot taking advantage of its modular structure, and it has been suspended by means of air-bearings on a granite plane. In this way it is possible to perform planar tests, which have the advantage that it is possible to simulate a microgravity environment without time constraints. The base of the robot has been fixed on ground by means of a custom designed dynamometer, which measures the forces and torques transferred to ground to be minimized. The forces and torques transferred to ground using the proposed kinematic inversion method have been compared with those relevant to a classical kinematic inversion which minimizes only the joints velocities. The experimental results validated the proposed algorithm and confirmed its good performance. Cocuzza; Pretto; Menon; Angrilli
Journal: 2007
Conference: 58th International Astronautical Congress 2007
Publisher: Hyderabad, ind
Published: Cocuzza S.; Pretto I.; Menon C.; Angrilli F.
