Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing

Guancheng Zhao; Zihan Li; Yao Zhang; Xuchao Huang; Hao Li; Yifan Zhang

doi:10.1109/MEAE68077.2025.11557947

Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing

Guancheng Zhao
, Zihan Li
, Yao Zhang^*
, Xuchao Huang
, Hao Li
, Yifan Zhang

^*Corresponding author for this work

Beijing Institute of Technology
Shanghai Aerospace Control Technology Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a method for executing fine-grained space operations based on dual-arm collaborative manipulation, aimed at accomplishing typical space operation tasks and improving the operational accuracy and safety of space robots in complex tasks. Firstly, the method integrates a target measurement module. Secondly, path planning and collision detection algorithms are used to plan the robotic arm's motion trajectory. Finally, with the integration of compliance control strategies, "hand-to-hand" and axis-hole assembly experiments are conducted. Experimental results demonstrate that the proposed method can effectively perform typical space tasks and achieve force compliance during the manipulation process.

Original language	English
Title of host publication	2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	268-272
Number of pages	5
ISBN (Electronic)	9798331568405
DOIs	https://doi.org/10.1109/MEAE68077.2025.11557947
Publication status	Published - 2025
Externally published	Yes
Event	11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025 - Beijing, China Duration: 17 Oct 2025 → 19 Oct 2025

Publication series

Name	2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025

Conference

Conference	11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025
Country/Territory	China
City	Beijing
Period	17/10/25 → 19/10/25

Keywords

Dual-arm collaboration
compliance manipulation
space robots

Access to Document

10.1109/MEAE68077.2025.11557947

Cite this

Zhao, G., Li, Z., Zhang, Y., Huang, X., Li, H., & Zhang, Y. (2025). Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing. In 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025 (pp. 268-272). (2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MEAE68077.2025.11557947

Zhao, Guancheng ; Li, Zihan ; Zhang, Yao et al. / Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing. 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 268-272 (2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025).

@inproceedings{ee2f046337d04077b1aab64bc44725a1,

title = "Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing",

abstract = "This paper presents a method for executing fine-grained space operations based on dual-arm collaborative manipulation, aimed at accomplishing typical space operation tasks and improving the operational accuracy and safety of space robots in complex tasks. Firstly, the method integrates a target measurement module. Secondly, path planning and collision detection algorithms are used to plan the robotic arm's motion trajectory. Finally, with the integration of compliance control strategies, {"}hand-to-hand{"} and axis-hole assembly experiments are conducted. Experimental results demonstrate that the proposed method can effectively perform typical space tasks and achieve force compliance during the manipulation process.",

keywords = "Dual-arm collaboration, compliance manipulation, space robots",

author = "Guancheng Zhao and Zihan Li and Yao Zhang and Xuchao Huang and Hao Li and Yifan Zhang",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025 ; Conference date: 17-10-2025 Through 19-10-2025",

year = "2025",

doi = "10.1109/MEAE68077.2025.11557947",

language = "English",

series = "2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "268--272",

booktitle = "2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025",

address = "United States",

}

Zhao, G, Li, Z, Zhang, Y, Huang, X, Li, H & Zhang, Y 2025, Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing. in 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025. 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025, Institute of Electrical and Electronics Engineers Inc., pp. 268-272, 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025, Beijing, China, 17/10/25. https://doi.org/10.1109/MEAE68077.2025.11557947

Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing. / Zhao, Guancheng; Li, Zihan; Zhang, Yao et al.
2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025. Institute of Electrical and Electronics Engineers Inc., 2025. p. 268-272 (2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing

AU - Zhao, Guancheng

AU - Li, Zihan

AU - Zhang, Yao

AU - Huang, Xuchao

AU - Li, Hao

AU - Zhang, Yifan

PY - 2025

Y1 - 2025

N2 - This paper presents a method for executing fine-grained space operations based on dual-arm collaborative manipulation, aimed at accomplishing typical space operation tasks and improving the operational accuracy and safety of space robots in complex tasks. Firstly, the method integrates a target measurement module. Secondly, path planning and collision detection algorithms are used to plan the robotic arm's motion trajectory. Finally, with the integration of compliance control strategies, "hand-to-hand" and axis-hole assembly experiments are conducted. Experimental results demonstrate that the proposed method can effectively perform typical space tasks and achieve force compliance during the manipulation process.

AB - This paper presents a method for executing fine-grained space operations based on dual-arm collaborative manipulation, aimed at accomplishing typical space operation tasks and improving the operational accuracy and safety of space robots in complex tasks. Firstly, the method integrates a target measurement module. Secondly, path planning and collision detection algorithms are used to plan the robotic arm's motion trajectory. Finally, with the integration of compliance control strategies, "hand-to-hand" and axis-hole assembly experiments are conducted. Experimental results demonstrate that the proposed method can effectively perform typical space tasks and achieve force compliance during the manipulation process.

KW - Dual-arm collaboration

KW - compliance manipulation

KW - space robots

UR - https://www.scopus.com/pages/publications/105043519853

U2 - 10.1109/MEAE68077.2025.11557947

DO - 10.1109/MEAE68077.2025.11557947

M3 - Conference contribution

AN - SCOPUS:105043519853

T3 - 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025

SP - 268

EP - 272

BT - 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025

Y2 - 17 October 2025 through 19 October 2025

ER -

Zhao G, Li Z, Zhang Y, Huang X, Li H, Zhang Y. Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing. In 2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 268-272. (2025 11th International Conference on Mechanical Engineering and Aerospace Engineering, MEAE 2025). doi: 10.1109/MEAE68077.2025.11557947

Dual-arm Collaborative Compliance Manipulation Technology for Space Robots and Ground Testing

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Keywords

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