The coordinated motion planning of a dual-arm space robot for target capturing

摘要

SUMMARY In this paper, autonomous motion control approaches to generate the coordinated motion of a dual-arm space robot for target capturing are presented. Two typical cases are studied: (a) The coordinated dual-arm capturing of a moving target when the base is free-floating; (b) one arm is used for target capturing, and the other for keeping the base fixed inertially. Instead of solving all the variables in a unified differential equation, the solution equation of the first case is simplified into two sub-equations and practical methods are used to solve them. Therefore, the computation loads are largely reduced, and feasible trajectories can be determined. For the second case, we propose to deal with the linear and angular momentums of the system separately. The linear momentum conservation equation is used to design the configuration and the mounted pose of a balance arm to keep the inertial position of the base's center of mass, and the angular momentum conservation equation is used to estimate the desired momentum generated by the reaction wheels for maintaining the inertial attitude of the base. Finally, two typical tasks are simulated. Simulation results verify the corresponding approaches.