Self-collision Avoidance Trajectory Planning and Robust Control of a Dual-arm Space Robot

摘要

This paper addresses robust trajectory tracking for a dual-arm 6-DOF (degree of freedom) space robot with self-collision avoidance. A trajectory planning method for self-collision avoidance is presented with the information of danger field between the manipulators. On this basis, the kinematics and dynamics models of the whole system are considered together to realize the tracking of the end effectors. Thus a robust decentralized control strategy is proposed based on signal compensation and back-stepping. In contrast to the existing researches, the proposed scheme ensures that the space robotic system can automatically avoid self-collision and displays good robust performance. The simulation results verify the effectiveness of the proposed approach.