Dynamics analyze of a dual-arm space robot system based on Kane's method

摘要

Dynamics is the bridge between design and control, as space robots gain more and more importance in space operations, it was becoming imperative to understand their distinctive dynamics and control characteristics. In the absence of fixed base, the dynamic equation of system no longer be linearly parameterized, and the dynamics of space robotic systems could be quite complex and their control could be difficult. The dynamics of a dual-arm space robot system was systematically studied, and a dynamic model based on Kane-Huston's method and screw theory was presented in this paper. The numerical example shows that acting moment of a composition unit of the robot can be solved for given value of motion parameters with the exploitation of the dynamic model, vice versa. Furthermore, the planning technique for position/force control approach can be explored by designing the motion law for composition unit. Simulations results of the proposed dynamic model, which based on Kane-Huston's method and screw theory of the dual-arm space robot system, are very useful.