Research On Dynamics Control Of Dual-arm Free-floating Space Robotic System

With the development of space technology, more and more science research and exploration of the outer space would be taken on by mankind. But due to bad space environment, high cost and risk of sending people to space, the requirements for space robots are brought up. Free-floating space robots are much concerned since they consume little fuel. This paper is to deal with kinematics properties and dynamics control of a dual-arm free-floating space robotic system and to carry on some theory research and discussion full of great application value. Firstly the kinematics properties with close-chain constraints of this system are detailed, and then the whole system dynamics model is built. Successively the system dynamics coordinated control is accomplished by the computed torque method and the PI method. After that, two optimization approaches based on non-linear programming and hybrid genetic algorithms combined with simulated annealing are applied here to implement the internal force optimization control leading to the minimal energy consumption, and then we deeply analyze advantage and disadvantage of the two algorithms. The application of optimization approaches can seriously reduce the energy consumption of this system and has great practical significance. At last, in order to deal with the imprecision of this system dynamics model, we adopt single robust control scheme and robust neural network control scheme respectively to track the trajectory of the object motion. The efficiency of two control methods is proved by computer simulation, so they have practical value. The paper presents in-depth research on dynamics control of this space robotic system. Dynamics coordinated control, internal force optimization control and robust control on this system are implemented. All the research work done here will surely benefit to the further research and even to the application of this space robotic technology in the future.