Abstract
In this paper, the robust control problem for free-floating dual-arm space robot system with two objects is discussed. Firstly, the kinematics and dynamics of free-floating dual-arm space robot system with two objects are analysed. In order to overcome the difficulty that the dynamic equations of the system are nonlinearly dependent on inertial parameters, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrated that the dynamic equations of the system can be linearly dependent on a group of inertial parameters with augmented inputs and outputs. And then based on the above results, the robust control scheme for dual-arm space robot system with uncertain inertial parameters to track the desired trajectories in joint space is proposed. The proposed control scheme is computationally simple, because we guarantee the controller robust to the uncertain inertial parameters rather than explicitly estimating them online. In addition to this, it need not require controlling the position and attitude of the floating base. Finally, a planar free-floating dual-arm space robot system with two objects is simulated to verify the proposed control scheme
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
