Advances in researches of dynamics problems for free-floating manipulator

The base of space manipulator kept in a free-floating state, which caused the kinematics and dynamics coupling between the base and manipulator and made that it was more complicated than the ground manipulator for the analyses of kinematics and dynamics as well as control, and it was a difficult and hot spot to establish accurate dynamics model and control strategies for space manipulator. The dynamics modeling methods as well as fine dynamics modeling were reviewed in detail herein, and the path planning methods such as attitude adjustment, nonholonomic path planning, singularities avoidance were summarized. Then the impact dynamics modeling as well as control in capturing a target for space manipulator were summarized. Based on the studies mentioned above, the problems of present dynamics modeling were pointed out, and some topics to be further studied were predicted.