EFFICIENT COMPUTATION SCHEME FOR THE KINEMATICS AND INVERSE DYNAMICS OF A SATELLITE-BASED MANIPULATOR

An efficient computation scheme for the kinematics and inverse dynamic s of a satellite-based manipulator is proposed in this paper. Such a m anipulator differs from an earth-based one, because the motion of the satellite body is affected by that of the manipulator. The scheme we p ropose uses the kinematic conditions of the adjoined links and their d erivatives with respect to time. The conservation laws of the total mo mentum and the conditions for the total force balance are used to dete rmine the satellite body's velocity and acceleration. The amount of ca lculations for the kinematics and inverse dynamics is proportional to the number of manipulator links.