Dynamics Coordinated Control Method of Multi-Arm Free-Flying Space Robot with External Force Acting

摘要

The dynamics character of multi-arm coordinated operate free-flying space robot with external force acting was analyzed in the approach of Newton-Euler, the dynamics equation of multi-arm coordinated free flying space robot is obtained. The disturbing law of its bodies caused by external force is simulated by dynamics simulation analysis, the dynamics characters of multi-arms coordinated with external force were validated. Based on the dynamics equation obtained, the calculation method of driving torque of mechanical arms was deduced when the object moves along desired track. The definition of internal force caused by driving torque was given, the control algorithm of position and internal force of the load was constructed depend on the torque calculation of joints and PID feedback theory. At last the stable problem of control system is discussed, the error constrained equations of position and internal force was given, and the stability of control system was proved through simulation.