Novel synthesis method for minimizing attitude disturbance of the free-floating space robots

A dynamic balance control (DBC) scheme in conjunction with reaction null space (RNS) was synthesized in the framework of a task-priority-based method using a redundancy resolution. The simulation results showed that the designed algorithm could generate the appropriate manipulator's joint motion laws, which can not only minimize the base attitude disturbance but also execute various end effector's tasks according to the assigned task priority. Simulation results have also demonstrated the effectiveness and benefits of the proposed manipulator's joint motion strategies. A tracking mission that can guide the end effector to the capture point is planned as the primary task and minimizing the base attitude disturbance is considered as the secondary subtask.