Decoupling Control of Base Attitude and Hand Trajectory for Free-Flying Space Robot

In this paper, the free-flying space robot, comprising a satellite base body and articulated manipulator arms, is considered. We clarify the reduced effective inertia of this sophisticated mechanism is smaller or equal to the effective inertia associated with the articulated manipulator arm which is fixed on the earth. Furthermore, we develop the control system which decouples motions of satellite base body with the end-effector movements with application to control system for capturing a turget by a space robot. Finally numerical simulations demonstrate the usefulness of the proposed control system.