Dynamic load-carrying capacity analysis of space manipulators with joint friction

The aim of this paper is to analyze dynamic load-carrying capacity (DLCC) of free-floating space manipulators (FFSM) considering the effects of nonlinear friction in the joints. The dynamics model of FFSM with a payload is established, in which joint friction torque is described by using LuGre friction model. On this basis, considering limitation of joint drive capacity, base attitude requirement and joint velocity limits, the computational methodology for analysis of DLCC is present for point-to-point task in joint space and trajectory tracking task. The effectiveness of proposed methodology is verified by simulation experiments and the DLCC characteristics of space manipulators with joint friction are analyzed.