自由漂浮空间双臂机器人动目标抓捕控制

A dynamic model of free-floating dual-arm robot system was established for the task of capturing a moving target. For the tracking process of open-chain, the adaptive method was used to achieve the convergence of speed estimation and target tracking at the same time, to ensure that the two arms captured the target simultaneously. At the same time, the feedback control law concerning the coupling and floating model was designed. For the docking process of closed-chain, the movement of the dual arm was planned coordinately according to the constraints. Meanwhile, a coordinated impedance control algorithm for dual-arm space robot system was designed based on feedback linearization, with which the impedance of the dual-arm parallel system could be independently configured. The simulation shows that compared with pure tracking, the tracking method achieves a rapider capture process and a straighter track, and the internal force is effectively cut down and the docking is smoother in the closed chain process due to the dual-arm impedance control.