Dynamic Analysis Of Coordinated Manipulation For Two Free Flying Space Robots

With the development of space technology in countries, the amount and the level of complex are increasing and enhancing in space assembly tasks. These tasks were completed by astronauts in the past, however, it takes a huge threat to the astronauts who worked in a hostile environment. Free flying space robots(FFSR) are concerned for instead of astronauts to completed tasks in a wide range. This paper is to deal with kinematics and dynamics control of coordinated manipulation for Two FFSR based on the existing research, carry on some theory research and discussion to space robots in large-scale space Assembly tasks.Firstly this paper analyzes the FFSR robot kinematics, then according to the coordination characteristics of coordinated manipulation of Two FFSR coordination derived the kinematical geometry, and Generalized Jacobian Matrix is also given to describe the coupled relationship between robot body and its mechanical arm by using robot characteristics, it provides the basis for kinematical control and dynamic control of Two FFSR coordinated operation system, then according to characteristics of FFSR, the joint driving torques of arm which responsible for grasping the target objects to operation and are obtained with approach Newton-Euler, the dynamics equation of coordinated manipulation for two FFSR robots. Using the Generalized Jacobian Matrix of Two FFSR in coordinated manipulation tasks and resolved motion rate control and the PI method to achieving control of system with the dynamic coordinated operation. At last, dynamic internal force computation for the coordinated operation system is solved by using Sequential Quadratic programming. The simulation indicated that the means of dynamic control is effective for Two FFSR coordinated operation system.The paper presents in depth research on dynamic control of two free flying space robots coordinated operation system. Dynamic coordinated control, internal force optimization control and trajectory tracking, all the research work done here will surely benefit to the further research of the dynamic control of FFSR.