Dynamic Balance Control of Multi-arm Free-Floating Space Robots

TL;DR

This paper presents a coordinated control strategy for multi-arm space robots to maintain base stability during object capture, addressing the unique dynamics coupling in free-floating space systems.

Contribution

It introduces a novel control approach that enables one arm to compensate for base disturbances caused by the other during manipulation tasks.

Findings

Simulation confirms the control method's effectiveness.

The approach achieves zero reaction disturbance on the base.

Enhanced stability during space object capture operations.

Abstract

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the 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 (balance arm) compensating for the disturbance of the base. We present the coordinated control 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 the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.