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- Title
Modeling and Analysis of the Multiple Dynamic Coupling Effects of a Dual-arm Space Robotic System.
- Authors
Peng, Jianqing; Xu, Wenfu; Hu, Zhonghua; Liang, Bin; Wu, Aiguo
- Abstract
SUMMARY: A dual-arm space robot has large potentials in on-orbit servicing. However, there exist multiple dynamic coupling effects between the two arms, each arm, and the base, bringing great challenges to the trajectory planning and dynamic control of the dual-arm space robotic system. In this paper, we propose a dynamic coupling modeling and analysis method for a dual-arm space robot. Firstly, according to the conservation principle of the linear and angular momentum, the dynamic coupling between the base and each manipulator is deduced. The dynamic coupling factor is then defined to evaluate the dynamic coupling degree. Secondly, the dynamic coupling equations between the two arms, each arm, and the base are deduced, respectively. The dynamic coupling factor is suitable not only for single-arm space robots but also for multi-arm space robot systems. Finally, the multiple coupling effects of the dual-arm space robotic system are analyzed in detail through typical cases. Simulation results verified the proposed method.
- Subjects
SPACE robotics; LINEAR momentum; ANGULAR momentum (Mechanics); DYNAMIC models; SURGICAL robots
- Publication
Robotica, 2020, Vol 38, Issue 11, p2060
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574719001826