On the Simulations Concerning the Dynamics and Control of Space Manipulator Systems

Abstract

There has been an increasing attention toward the research of space manipulator systems for different applications like on-orbit servicing, debris removal, etc. from various institutions across the globe. This resulted in the trend of investigating simple methods to couple various manipulator and base/spacecraft pose control methodologies that already exist independently in the literature. One such scientific work in this direction proposed a control strategy for purely manipulator end-effector trajectory tracking control, while the base/spacecraft is station-kept. This article investigates the generalizability of the control strategy proposed by the scientific work for various space manipulation applications.