Research on kinematic characteristic of free floating space robot with zero-disturbance spacecraft attitude

Aiming at the kinematic characteristic of free floating space robot (FFSR) with zero-disturbance spacecraft attitude, the constraint equation of zero-disturbance spacecraft attitude is introduced, and the generalized Jacobian matrix of FFSR with zero-disturbance spacecraft attitude is derived; the reachable workspace of FFSR with ordinary status and that of FFSR with zero-disturbance spacecraft attitude are analyzed by employing the concept of the equivalent link; the singularity equation is received based on the generalized Jacobian matrix of FFSR with zero-disturbance spacecraft attitude, and the dynamic singularity of FFSR with zero-disturbance spacecraft attitude is investigated. The simulation results validate the kinematic difference between FFSR with ordinary status and FFSR with zero-disturbance spacecraft attitude. The outcome well sets the foundation for the motion planning and control for FFSR with zero-disturbance spacecraft attitude.