THE KINEMATIC MODEL OF FREE-FLYING SPACE ROBOT...

14th World Congress ofTFAC

Copyright © 1999 IFAC P-8a-04-4

14th Triennial World Congress, Beijing, P.R. China

THE KINEMATIC MODEL OF FREE-FLYING SPACE ROBOT

Jing Wang and Liangdong Liu

Beijing Institute o/Control Engineering

p. 0. Box 2729
Beijing, 100080
P. R. China
Te!: (86-10)68745370,68378669

Abstract: This paper centers on the research of kinematic model of free-flying space
robot. From the system's extended total momentum (ETM), the generalized
expressions for the total momentum are obtained. By choosing different bodies the
corresponding kinematic models of free-flying space robot are obtained. In the end
some conclusions are drawn. Copyright © 1999 [FAC

Key words: Kinematics, Space Robot.

I. INTRODUCTION One major characteristic of space robot, which

In space development and explorations in the future,
it is necessary for free-flying space robot to
accomplish some extra vehicular activities such as
retrieving, repairing and servicing activities instead
of astronauts (Dnbowsky and papadopoulos, 1993),
and free-flying space robot is expected to play an
important role in accomplishing precise
dexterous missions ( Umetani and Yoshida, 1989).
clearly distinguishes them from grounded-flxed ones,
is the lack of a fIXed base in space environment. If a
space atm is operated for a certain task, reaction
forces and moments due to the arm motion disturb
position and attitude of the base body. Therefore, the
conventional control method for ground-fixed robot
can not be adapted directly to the space robot.
and
There are many studies on space robotics, but most
of them are based on the assumption that the base

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THE KINEMATIC MODEL OF FREE-FLYING SPACE ROBOT...
body is stationary. Reaction wheel or reaction
thruster is employed in them to maintain the attitude
of the base body in typical method of attitude control
of space robot. However, the ability of attitude
adjusting of reaction wheel is limited. When the
energy accumulated on the reaction wheel reaches
the saturation limit, additional energy must be
removed. The employment of reaction thruster will
consume excessive amount of attitude control fuel.
As attitude control fuel is a nonrenewable and
expensive resource in space, the excessive use could
greatly limit space robot's useful "on-orbit" life.
A free-flying space robotic system is one in which
the base body's attitude is not actively controlled
during manipulator activity to conserve attitude
control fuel, in which case the base body will move
freely in response to the dynamical disturbances
caused by the manipulator's motion. The drawback
in kinematic problems of free-flying space is that,
even the forward kinematics has remarkable
difficulty, moreover, much more difficulty will arise
in the inverse problem(Longman, et al.,1987; Vafa
and Dubowsky, 1990). Umetani and Yoshida (1989)
proposed a generalized 10cobian matrix for free-
flying space robot. Others also derive the matrix
(Yokohji, et al., 1993; Mukhetjee and Nakamura,
1992 ). In all those attempts, a body must be selected
first in order to derive the kinematics model. Then,
the velocities of the selected body are used to express
the total momentum of the system. Finally, the
kinematic model is derived. The disadvantage of this
approach is that no generalized expression for the
total momentum is available, because the expressions
for the total momentum are different in terms of
different selected bodies, and it can not suggest a
suitable and more efficient choice of the body.
In order to overcome these problems, this paper
analyses the total momentum again, and derives the
generalized expression for the total momentum. By
choosing different bodies, different kinematic models
are obtained. In the end, by comparing these different
kinematic models some conclusions are drawn.
Copyright 1999 IF AC
14th World Congress ofTFAC
2. EXTENDED TOTAL MOMENTUM
The space robot under study is assumed to be
consisting of n + 1 rigid body, connected by n
revolute joints located at 01, 02, ••• , On, as shown
in Fig 1.
Some definitions are given as follow:
t i : the six-dimensional vector of twist, which is
defined as
(1)
where CJ i and T/ are the three-dimensional vectors
representing the angular velocity and the velocity of
the mass center of the i th body, C t , respectively.
For the end-effector, t e represents the twist of point
E on the end-effector.
M{: the 6 x 6 extended mass matrix of the i th
body, given by
(2)
where m; and I; are the mass of the i th body
and its 3 >< 3 inertia tensor about C;, respectively.
Whereas I and 0 are the 3 x 3 identity and zero
tensors, respectively.
h: the six-dimensional extended total momentum
(ETM) of the system, which is defined as
h=[:] (3)
where a and m are the three-dimensional vectors
of total angular momentum and total linear
momentum about an inertially flxed point, 0 of Fig. 1 ,
respectively. They are defined as
n n
a.:::;: L.(I;ffi; + T j X mJ'J ), m = "Lmjr; (4)
j=~ ;=0
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THE KINEMATIC MODEL OF FREE-FLYING SPACE ROBOT... 14th World Congress ofTFAC

end-effector can be chosen.

03 Oi
02~ 0
/0 3.1 Kinematic Model Using the Base Body as the
Selected Body

From kinematic constrains, the generalized twist of

the space robot, t of (7), can be expressed as

(8)

where Ao and Do are the 6(n + 1) x 6 and the

6(n + 1) x n matrices, respectively. {} is the vector

o Inertial Frame
of the joint rates, i.e.,

(9)
Fig. I. A schematic diagram of space robot

where e (i = 1, ... , n) is the angular displacement

i

The 6 x 6 matrix Bp is dermed as

of the revolute joint located at OJ' Fig. 1.

(5)
From (6) and (8), h is then obtained as
where 1 and 0 are the 3 x 3 identity and zero
h = iolo + BMD/3 (10)
tensors, respectively.

where j (} is a 6 x 6 matrix, given by

From (3), (1), (2) and (5), the generalized expression
for the total momentum is obtained, given by
(11)
n
h = L: RiM,I} == BMI
id)
(6)
10 is always nonsingular. This can be explained as

where
follows. For 9=0, then h = 10/0' Now, for

nonzero i o, it is physically impossible tor the

Mal, momentum to be zero. This physically signifies that

(7) the matrix i (} has no null space and is hence

invertible. Equation (IQ) is identical to

(12)
3. KINEMATIC MODEL OF FREE-FLYING
SPACE ROBOT
Equations between the twist of the base body and the
From (6), we know that if a body is selected, the total joint rates of the manipulator are written from
momentum h can be expressed by the velocities of kinematic constraints as
the selected body. Generally, the base body and the

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Copyright 1999 IF AC ISBN: 008 0432484
THE KINEMATIC MODEL OF FREE-FLYING SPACE ROBOT... 14th World Congress ofTFAC

4 CONCLUSIONS
(13)

From (14) and (19), some conclusions can be drawn,

where J o and J m are the 6 x 6 and the 6 x n
Le.,
matrices, respectively.
• If the base body's position and attitude are
From (12) and (13), the kinematic model of free concerned, the first approach is more
flying space robot is derived as convenient than the second approach. Equation
(12) shows how much the twist of the base body
(14)
effected by the arm. Equation (14) gives the
where relationship between the twist of the end-
effector and the joint rates of the manipulator,
i.e., the kinematic modeL

• If the twist of the end-effector is concerned only,

3.2 Kinematic Model Using (he End-effector as the
Selected Body
From kinematic constrains, the generalized twist of
the space robot, t of (7), can be expressed as
the second approach is more suitable and more
efficient than the fIrst approach. It can be seen
clearly from (14) and (19). Equation (19) is the
kinematic model of free-flying space robot.

(16)
• If the space robot is not effected by the external
environment's moments and forces, then the
momentum conservation principle is applicable,
where Ae and D .. are the 6(n + 1) x 6 and the
i.e., h =constant; if the space robot is initially
at rest, i.e., h =0. With the above two
6(n + 1) x n matrices, respectively.
assumptions, kinematic models of free-flying
space robot can be derived more simple.
From (6) and (16), h is then obtained as
This paper studies the kinematic model of free-flying
(17)
space robot. From the system's extended total
where momentum (ETM), the generalized expressions for
the total momentum are obtained. By choosing
le == BMA.. (18)
different bodies we get the corresponding kinematic
models of free-flying space robot. In the end some
I.. is always nonsingular, this can be explained
conclusions are drawn.

similar to ID. From (17), the kinematic model of

free-flying space robot is derived as REFERENCES

(19)
Dubowsky, S. and E. Papadopoulos (1993). The
where kinematics, dynamics, and control of free-flying and
--I free-floating space robotic system. IEEE Trans. on
He "" le (20) Robotics and Automation, 9, 531-543.
Longman, R. W., R. E. Lindberg and M. F. Zedd
(1987). Satellite-mounted robot manipulators-New
kinematics and reaction moment compensation. The

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Int. Journal of Robotics Research, 6, 87-103.

Mukherjee, R. and Y. Nakamura (1992). Formulation
and efficient computation of inverse dynamics of
space robots. JEEE Trcms. on Robotics and
Automation, 8, 400-406.
Umetani, Y. and K. Yoshida (1989). Resolved motion
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Jacohian Matrix. IEEE Tram. on Robotics and
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Yokohji, Y., T. Toyoshima and T. Yoshikawa (1993).
Efficient computational algorithms for trajectory
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Vafa, Z. and S. Dubowsky (1990). On the dynamics
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manipulator approach. Journal of Astronautical
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