Optimal payload rate limit algorithm for zero-G manipulators

An algorithm for continuously computing safe maximum relative velocities for two bodies joined by a manipulator is discussed. The maximum velocities are such that if the brakes are applied at that instant, the ensuing travel between the bodies will be less than or equal to a predetermined amount. An improvement in the way this limit is computed for space manipulators is shown. The new method is explained, test cases are posed, and the results of these tests are displayed and discussed.