Attitude Stabilization Methodof Space Robot

Coupling characteristics of space robot influence the stability of the system.Considering the attitude stabilization of the space robot,the dynamic model of the space robot is established firstly,then the Reaction Null Space of the space robot is analyzed according to the coupling characteristics of the system,and the coupling dynamics of the manipulator and base is decoupled.In this paper an approach is presented to make the attitude of the base fixed based on the Reaction Null Space without using reaction wheels or thrusters,which can save the fuel of the space robot and prolong the serving time of the system.Numerical simulation experiments have been made by using Matlab and the experimental results demonstrate the validity and effectiveness of the proposed approach.This method can provide theoretical support for on-orbit operation.