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Modeling and Analysis of the Multiple Dynamic Coupling Effects of a Dual-arm Space Robotic System

Published online by Cambridge University Press:  16 January 2020

Jianqing PengOpen the ORCID record for Jianqing Peng[Opens in a new window],
Wenfu Xu,
Zhonghua Hu,
Bin Liang and
Aiguo Wu
Jianqing Peng
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. Emails: pjqxs@163.com, hitsz_hzh@163.com, ag.wu@163.com
Wenfu Xu*
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. Emails: pjqxs@163.com, hitsz_hzh@163.com, ag.wu@163.com
Zhonghua Hu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. Emails: pjqxs@163.com, hitsz_hzh@163.com, ag.wu@163.com
Bin Liang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China. Email: bliang@mail.tsinghua.edu.cn
Aiguo Wu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. Emails: pjqxs@163.com, hitsz_hzh@163.com, ag.wu@163.com
*
*Corresponding author. E-mail: wfxu@hit.edu.cn
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Summary

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A dual-arm space robot has large potentials in on-orbit servicing. However, there exist multiple dynamic coupling effects between the two arms, each arm, and the base, bringing great challenges to the trajectory planning and dynamic control of the dual-arm space robotic system. In this paper, we propose a dynamic coupling modeling and analysis method for a dual-arm space robot. Firstly, according to the conservation principle of the linear and angular momentum, the dynamic coupling between the base and each manipulator is deduced. The dynamic coupling factor is then defined to evaluate the dynamic coupling degree. Secondly, the dynamic coupling equations between the two arms, each arm, and the base are deduced, respectively. The dynamic coupling factor is suitable not only for single-arm space robots but also for multi-arm space robot systems. Finally, the multiple coupling effects of the dual-arm space robotic system are analyzed in detail through typical cases. Simulation results verified the proposed method.

Keywords

Dual-arm space robotOn-orbit servicingTrajectory planningDynamic coupling factorMultiple dynamic coupling effects

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 11 , November 2020, pp. 2060 - 2079
Copyright
Copyright © Cambridge University Press 2020

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