The control problem of multiple manipulators installed on a free-flying space robot is presented. Kinematics and dynamics are studied and the generalized Jacobian matrix is formulated for the motion control of a multiarm system. Individual and coordinated control of dual manipulators is discussed. For the coordinated operation, a new method of controlling two arms simultaneously-one arm traces a given path, while the other arm works both to keep the satellite attitude and to optimize the total operation torque of the system-is developed. By means of this control method, an interesting torque optimum behavior is observed and a practical target capture operation is exhibited by computer simulation.
Dual arm coordination in space free-flying robot
Duale Greifarmkoordinaten bei einem freifliegenden Roboter für die Raumfahrttechnik
1991
6 Seiten, 9 Quellen
Conference paper
English
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