Coordinated motion control of a Dual-Arm space robot with joint-limit avoidance and uncertain inertial parameters

Abstract

In this article, a newadaptive coordinatedmotion control approach is introduced for a dual-armfree-floating space robot. This adaptive algorithm is used for the post-capture of a large noncooperative target with joint-limit avoidance and uncertain dynamic parameters. To overcomethe problemof dynamics coupling between the space base, itsmanipulators, and the target, wedevelop a dual-armspace robotic system.One armis used to complete the capture task and the other is used to counteract the disturbance to the space base. In this case, a new coordinated motion control law is derived based on reaction null space control. An improved joint-limit avoidance algorithm is implemented for large noncooperative target capture; otherwise, a significant base disturbance may result if the joint-limit constraints are not explicitly considered. Based on momentum conservation, the linear regression form of the estimation problem is obtained, and we further identify the unknown inertial parameters of the target. Finally, the simulation results demonstrate the effectiveness of the proposed algorithm.