This paper presents a new dynamic formulation as well as control scheme for space manipulators in order to drive the end-effector along a desired trajectory while minimizing the base disturbances caused by the arm movements. Through the new dynamic formulation, the end-effector is viewed as a virtual base, and the end-effector variables are also considered as generalized coordinates. As a result, joint controllers can be designed without having to solve for the inverse kinematics problem and computing the derivative of the generalized Jacobian matrix. Consequently, the joint control torque can be obtained analytically through the Lagrange multipliers method. Further, the joint control torque is also obtained through a quadratic programming problem in order to take into account the joint torque constraints. Several case studies are simulated to demonstrate the new control scheme and compare its performance with that of other controllers.

中文翻译：

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自由浮动空间机械手的无响应控制

本文提出了一种新的空间机械手的动态公式和控制方案，以便沿着所需的轨迹驱动末端执行器，同时最大限度地减少由手臂运动引起的基础干扰。通过新的动力学公式，末端执行器被视为虚拟基础，末端执行器变量也被视为广义坐标。因此，无需求解逆运动学问题和计算广义雅可比矩阵的导数，即可设计关节控制器。因此，可以通过拉格朗日乘子法解析地获得联合控制转矩。此外，关节控制扭矩也通过二次规划问题获得，以考虑关节扭矩约束。