The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach

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Abstract
Future robotic manipulator systems will be required to per form complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coup ling between the manipulators and its spacecraft. This dy namic coupling also makes it difficult to analyze these sys tems. This paper introduces a new analytical modeling method for space manipulators called the Virtual Manipula tor (VM), which has a fixed base in inertial space at a point called a Virtual Ground. The kinematics and dynamics of the manipulator, spacecraft, and payload can be described relatively easily in terms of the VM. With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.

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