Analyzing dynamic coupling effect resulted by space operations with recursive formulation
In order to reveal dynamic coupling effect in a space robot's operation, the paper raises a method of using recursive formulation to establish the system dynamic model and designing operational procedure in a parameterized way. In the paper, a topological representation of a space robot operating system is established containing dynamic constraints. The weighted factors method is used to get a simplified spanning tree of the system. Finally, dynamic model of space robot operating on the surface of the spacecraft is formulated and numerical simulation is carried out. The obtained results show that space robot and spacecraft are strongly coupled during the operation. Continuous control may intense the dynamic coupling effect, while strong dynamic coupling decreases the operating efficiency. It is illustrated in this paper that dynamic coupling analysis of complex space operational tasks can be conveniently implemented using this method.