DYNAMIC MODELLING AND TRAJECTORY PLANNING OF DUAL ARM FREE FLYING SPACE ROBOT

Abstract

Space robotics has become the main area of research for many researcher and scientists all over the world, various research are going on in space robotics in different fields such as mechanical, electrical, electronics, software etc Free-flying space robots and free-floating space robots have been under intensive consideration to perform many space missions such as inspection, maintenance, repairing and servicing satellites in earth orbit. Particularly, servicing satellite equipped with robot arms can be employed for recovering the attitude, charging the exhausting batteries, attaching new thrusters, and replacing the failed parts like gyros, solar panels or antennas of another satellite. Unlike ground-base robot manipulator, the space manipulator has no fixed base hence linear and angular momentum is conserved. In the present work, we are going to develop a dual arm dual link (two links in each arm) free flying space robot. Firstly a general non holonomic constraint equation for free flying space robot is developed to generate inertia matrix of base and manipulator arms. Secondly Jacobian matrix for dual arm space robot is developed to transfer motion from joints to their respective end effectors. Then equation of motion is generated to know the dynamic behavior of the robot in space. Smooth Path planning is also done using polynomial approach to find the required joint torques to reach the desired position.