Risk Assessment Model-Guided Configuration Optimization for Free-Floating Space Robot Performing Contact Task

The use of free-floating space robots for contact tasks is very promising in exploration. However, severe damage or obvious disturbance may occur if inappropriate operation implemented. In this paper, a novel risk assessment method first proposed to give clear description the state before happens and provide guidance configuration optimization reduce on tasks. Firstly, dynamics model robot given. On basis, two important indicators, maximum force base attitude caused by contact, are derived. By integrating performing task. It multidimensional extensible which could happens. Thereafter, considering results given model, implemented based design factor null space. Finally, numerical simulation 7-degree-of-freedom task carried out, verify effectiveness method.