Trajectory Tracking Control in Inertia Space of Dual-Arm Space Robot System

摘要

The coordinated control scheme of the dual-arm space robot without controlling the base position is discussed. The dynamics equations of the system and the generalized Jacobian matrix are derived. Based on the results, the nonlinear feedback control for the dual-arm space robot is proposed. When the dynamics model and parameters are accurately known, the proposed control scheme can effectively control space manipulator and the base to complete the desired motion in inertia space, without controlling the base''s position of the space robot, the simulation result demonstrate that the proposed scheme is efficient