On space robot motion planning
The paper focuses on the problem of motion control of а space robot. The robot consists of a body and a telescopic manipulator, and is in state of passive flight, i.e. it does not use any propulsion that controls movement and navigation of the robot body. Only the actuators installed at the axes are used to control robot movements. Thus, the robot movement is affected only by internal forces. The movement of the manipulator has a noticeable effect on the movement of the robot body due to the conservation laws of robot momentum and its angular momentum relative to the center of mass. We assumed that the robot momentum and angular momentum are equal to zero. There are constraints both on the variation limits in the length of the manipulator arm and the angle of its rotation relative to the body. The problem is solved as a plane problem. When the manipulator arm moves from the initial position to the final one, the latter being located in the working space, the program motion includes the sequence of the following alternating actions: shortening the manipulator arm length to the minimum value, its rotation relative to the robot body, extending the manipulator arm length to the maximum value, then again the arm rotation relative to the robot body, etc. Findings of the research show that due to these cyclic motions of the manipulator arm relative to the body, the robot body can be rotated at an arbitrary angle. As a result, the working space of a passively flying space robot is significantly larger than the working space of a robot with a fixed body. The working space of the robot in absolute space is a ring bounded by two circles centered at the center of the robot mass and radii equal to the minimum and maximum distance from the center of the robot mass to the robot gripper. Moreover, when constructing the program motion, it is possible to provide not only the robot gripper taking a given final position, but also the required value of the angle between the robot body and the manipulator arm in the final position, which is more advantageous for the work
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