Trajectory control in redundant space robot systems: a comparative evaluation of various float mechanisms

The trajectory of a space robot poses challenges due to its floating base, irregular surfaces, and unexpected circumstances. Combining redundant space robots with a control system offers a highly effective and efficient solution. The aim of this study is to present a trajectory control method for commanding two redundant space robots, capable of handling distinct floats. Controllers are employed to regulate the direction and location of robot tips within space robotic systems. These controllers continually analyse the variance between expected and actual set points, calculating control outputs for manipulating various floating objects using a pair of cooperative redundant space robots. The bond graph formulation is utilized for modeling and simulation of the two redundant space robots. The proposed method demonstrates significant accuracy, as per simulation findings.