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

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.