Adaptive and intelligent control of a dual-arm space robot for target manipulation during the post-capture phase

Xinle Yan, Minghe Shan, Lingling Shi*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)

Abstract

Dual-arm space robots provide a promising solution for efficiently and flexibly completing complex on-orbit servicing tasks. However, their effectiveness is often hindered by strong dynamic coupling between the robotic arms and the satellite base in the microgravity environment. In this paper, both robotic arms are used as task arms, and a system model that considers the closed-loop constraint formed after a dual-arm space robot captures a target is established. On this basis, two types of control strategies, namely self-tuning control strategy (STC) and radial basis function neural network control strategy (RBF) are proposed for trajectory tracking of the target transferred or detumbled by the robot arms in the presence of system uncertainty or external disturbances. The control methods are verified and compared against the traditional computed torque control strategy (CTC) in terms of control accuracy and system robustness through simulation. The results demonstrate the excellent robustness of both RBF and STC strategies. RBF outperforms the other strategies in terms of control accuracy, while STC proves to be the most energy-efficient.

Original languageEnglish
Article number108688
JournalAerospace Science and Technology
Volume142
DOIs
Publication statusPublished - Nov 2023

Keywords

  • Adaptive control
  • Dual-arm space robot
  • Intelligent control
  • Post-capture phase
  • Target manipulation

Fingerprint

Dive into the research topics of 'Adaptive and intelligent control of a dual-arm space robot for target manipulation during the post-capture phase'. Together they form a unique fingerprint.

Cite this