This work presents the results acquired during simulation studies done for a 3D free-floating satellite behaviour with input-output decoupling approach. The research object is a free-floating satellite with a 3 DoF rigid 3D manipulator where a noise disturbance was introduced. Different approaches are used to compensate the noise influence. Systems using a visual aid to determine the position of manipulator joints are not ideal and introduce some uncertainties. What is more, determining the position from joints encoders is not error-free while computing angular velocity from numerical differentiation introduces even greater disturbance to the system. A couple of scenarios were investigated where state of the manipulator, including its position and velocity, was disturbed with homogeneous noise. Also the control inputs of the manipulator were disturbed. Simulation results show that the biggest impact on the control quality has a scenario where the satellite’s state has been disturbed with additive noise.

Abstract This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.