Motion Planning control of cooperative two Redundant Space Robots

摘要

The trajectory control is challenging for space robots due to its free-floating base, uneven surfaces and unusual conditions. Robots are affected by small disturbance in the path following motion. Redundant space robots which have high degree of freedom with all the links are open cannot be controlled easily. For trajectory control, an Amnesia recovery control coupled with classical proportional integral and derivative (PID) control was used in this work. The space robots are controlled to trace the circular trajectory with a unit mass. Further work can be done by increasing the weight of the body and size of the body. Simulation result shows that, the proposed method has the advantages of high precision. Bond graph technique is used to model two redundant space robots, PID control and amnesia recovery control using symbols shakti software.