This paper investigates the problem of the dynamic balance control ofmulti-arm free-floating space robot during capturing an active object in closeproximity. The position and orientation of space base will be affected duringthe operation of space manipulator because of the dynamics coupling between themanipulator and space base. This dynamics coupling is unique characteristics ofspace robot system. Such a disturbance will produce a serious impact betweenthe manipulator hand and the object. To ensure reliable and precise operation,we propose to develop a space robot system consisting of two arms, with one arm(mission arm) for accomplishing the capture mission, and the other one (balancearm) compensating for the disturbance of the base. We present the coordinatedcontrol concept for balance of the attitude of the base using the balance arm.The mission arm can move along the given trajectory to approach and capture thetarget with no considering the disturbance from the coupling of the base. Weestablish a relationship between the motion of two arm that can realize thezeros reaction to the base. The simulation studies verified the validity andefficiency of the proposed control method.
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