Motion control of free-floating variable geometry truss. II - Inverse kinematics

The inverse kinematics of a free-floating variable geometry truss are formulated in conjunction with the conservation of momentum, and the Moore-Penrose inverse is employed to give the solution. Based on the generalized Jacobian matrix, a two-order solution of task priority is derived, and its possible applications to obstacle avoidance, shape control, and free-endplane control are also discussed. Moreover, the issues of the dynamic singularities of a free-floating variable geometry truss are addressed, and an approach through actively handling the orientation of the free-endplane of a free-floating variable geometry truss is proposed to reduce the coupling of singularities with its dynamic parameters. With the aim of applications in space engineering, a free-floating variable geometry truss model is manufactured and set up in the laboratory, and a distributed control architecture is constructed to provide it with an effective parallel control. Finally, a docking experiment with this model is carried out.