Coordinated control of multiple free-floating space robotic system

This paper presents the coordinated control method of multiple free-floating space robotic system consisting of some space robots having manipulators and a floating object in the space micro-gravity environment. Firstly, the generalized Jacobian matrix (GJM) of multiple free-floating space robotic system is introduced. Secondly, the dynamic model of multiple free-floating space robotic system is founded and the dynamic function is introduced. Then, the dynamic control scheme is proposed to regulate object position and internal forces. Finally, the effectiveness of the method is verified by computer simulation.