An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot

An experimental validation of the Extended Operational Space Formulation for a two-arm, free-flying space robot is presented. Following a brief summary of the formulation and a quantitative description of the robot's macro-mini characteristics, the concepts of macro-mini coordination for a multi-arm system, Dynamically Consistent Force/Torque Decomposition for redundant manipulator control, and Internal Motion Control are demonstrated experimentally. The impact of actuator discretization at the robot base on the accuracy and dynamic decoupling of the robot is analyzed and discussed.

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