Space robot modeling and control considering the effect of orbital mechanics

This paper studies the dynamics modeling and control simulation of space robot with the dynamic effects due to orbital mechanics. To a single-arm free-flying space robot, two dynamics models are built by Lagrangian formulation. One is a general model without the consideration of orbital mechanics, based on which a second model is derived by bringing in the generalized gravitation and generalized inertial force. The special form of this model with only the body coordinate considered can lead to the accurate dynamics model in satellite formation flying. Results of numerical control simulation show that the latter model give a more accurate modeling of space robot which is especially useful when the travel of system is of relatively long length