Compliant Floating-Base Control of Space Robots

This letter presents a compliant feedback controller of an arm-equipped spacecraft, which does not enforce requirements on the spacecraft position and attitude. The is applicable to pre-contact, contact, post-contact phases robotic operation. In contrast conventional floating-base strategies, eliminates instability system during steady thus can be used in realistic applications. uses external-internal transposed-Jacobian control for regulation end-effector, together with whole-body Center-of-Mass (CoM) angular momentum achieving stability, force stable contact phase. method validated experimentally using hardware-in-the-loop simulator composed seven degrees-of-freedom (DOF) arm mounted 6 DOF simulated spacecraft. Numerical simulations further validate considering thrusters system, measurement noise, time delay.