Contacting obstacle avoidance control for the space manipulator in confined space

This paper proposed a contacting obstacle avoidance control method for space manipulator. Considering the situation in which one of the space manipulator's links contact with some other objects in workspace, this article analyzed the mapping relationship between the joint space and the task space of the manipulator, and then studied the method of controlling the contacting force based on the null-space. This method can effectively control the contacting force on the manipulator's link and performs the assigned task without being interrupted at the same time. Lastly numerical simulations were presented in the article to prove the correctness and the feasibility of this method.