Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station

摘要

The robot astronaut is a multi-body dynamics system with multi-degrees of freedom, nonlinearity and strong coupling. Its motion control and operation target are in micro-gravity environment, in which the robot is in a natural floating state. On space station, the dynamics of the robot is influenced by the internal force, contact force, inertial force and joint friction. At this point, the collision between the robot and the space station due to movement will greatly influence the safety of the robot and may cause serious damage. In this paper, we propose a control strategy based on dynamics and force compliant dual feed forward torque compensation, which greatly eliminates the impact force during the collision and realizes the safe movement of the robot on space station. Simulation results validate the effectiveness of the control strategy.