운동량 보존에 기반한 자유 부유 우주 매니퓰레이터를 위한 비선형 모델 예측 제어

Abstract

This paper proposes a nonlinear model predictive control (NMPC) for free-floating space manipulator (FFSM) based on momentum conservation. First, the FFSM was modeled as a serial- chain robot with a total of thirteen degrees-of-freedom (DoFs), comprising six-DoFs for the satellite and seven-DoFs for the manipulator. The dynamics were reformulated as an expression for the joint accelerations of the manipulator. A double integrator model was adopted as the system model for optimal control, and momentum conservation constraints were incorporated to reflect the characteristics of free-floating motion. Finally, the validity of the proposed method was verified through simulation results.