The Kinematics, Dynamics And Control Of Dual-arm Space Robot System

Space robot is an important tool in the universe exploring. Free-floating is one of the most important control mode. This mode can reduce the usage of expensive fuel, long the life of the space robot, and save a lot of cost. In this paper, the dynamics model, control, and simulation of free-floating space robot system with dual-arm is investigated. The history and current status of the development of space robot at home and abroad are summed up in the first chapter. In the second chapter, the dynamics of free-floating space robot system with dual-arm is established by use of the Lagrange's equation. At same time, based on analysis of kinematics about free-floating dual-arm space robot system, the Jacobi matrix is obtained. In the third chapter , based on the dynamics, the nonlinear feedback control for free-floating space robot system with dual-arm is proposed. It is proved that if the dynamics model and parameters are accurately known, the proposed control scheme can effectively control space manipulator to complete the desired motion, without controlling the base's position and attitude of the space robot. It is demonstrated by the simulation that the proposed scheme is efficient. In the fifth chapter,trajectory tracking control in inertia space of the free-floating dual-arm space robot system is studied. Associating the momentum conversation, the dynamics of system without controlling the base's attitude of space robot is obtained. Based on the dynamics, trajectory tracking control in inertia space is realized via computed torque method. The simulation demonstrated that the proposed scheme is efficient.