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The Analysis of Free-Floating Space Manipulator when Tracking Desired Force/Position

For free-floating space manipulator, a double loop control law is applied to the manipulator to achieve the force/position tracking of the end-effector, and the influence to the manipulator system is analyzed in this paper. First, the dynamic model is established based on Lagrange's equations. On this basis, a double loop control law which is based on the idea of impedance control is applied to the manipulator. During the force/position tracking, the influence of each part of free-floating space manipulator is analyzed, especially the base attitude disturbance. Finally, a simulation is given to show the analyze results.