Manipulation control of multi-body free-floating space robot based on software combination

In this paper, the manipulation control of a robotic manipulator of a spacecraft is proposed. This is a multi-body system composed of rigid and flexible elements. The manipulator end-effector should move an object and track desired trajectory in free floating situation. Because of difficult under-actuated situation induced by flexible elements, and nonlinear dynamics caused by manipulator operating dynamical coupling between the running manipulator and the base; the fuzzy logic system which is able to approach any nonlinear function is used. This is done by some engineering software to perform the dynamics modelling and to control the assumed system. The spacecraft including a three-link space manipulator as a simplified PUMA type manipulator and two solar panels is assumed as multi-body system. In order to confirm the validity of the suggested method, the computer simulation of this system is carried out by linking between ADAMS and MATLAB/SIMULINK software. The results show that the manipulator tracks the desired trajectory and disturbances on the base and solar panels deflections are minimized using this method.