Quaternion-Based Kinematic Control of Redundant Spacecraft/Manipulator Systems
نویسندگان
چکیده
This paper addresses kinematic control of a redundant space manipulator mounted on a freeoating spacecraft. Redundancy of the system with respect to the number of task variables for spacecraft attitude and manipulator end-e ector pose is considered. Also, the problem of both spacecraft attitude and end-e ector orientation representation is tackled. A nonminimal singularity-free representation of rigid body orientation is adopted: the unit quaternion; this allows avoiding representation singularities and formulating the inverse kinematics algorithms in terms of geometrically meaningful variables. Depending on the nature of the task for the spacecraft/manipulator system, a number of closed-loop inverse kinematics algorithms are proposed. Case studies are developed for a system of a spacecraft with a six-joint manipulator attached.
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