Novel Design of Gaits on Space Station for Dynamic Disturbance Minimization

In this paper, we propose a novel design of gaits for space manipulators so as to minimize the dynamic disturbance on a space station. Without modifying their joint configuration, we first propose the use of our previous developed gripping methodology. It combines the concepts of wheels motion in parallel grippers to reduce the swing motions in conventional gaits. For the proposed gaits, three major aspects are considered including 1) linear motion; 2) turning; and 3) exterior transition. Based on the conventional modeling approach for fixed base space manipulators, we extend the method to formulate the dynamic coupling during wheels motion. It is to visualize the manipulator as a prismatic joint with its gripping base moving with wheels motion. Also, we develop an experimental platform for verification. For disturbance analysis, various simulations have been conducted. Results have validated that the proposed gaits generate the lowest disturbance on a space station.