关键词: 双臂空间机器人, 闭链, 操作臂, 协作臂, 柔顺控制

Abstract: Dual Arm space robot can manipulate cooperatively the target with the characters of Heavy Load and high precision, which has the constraint conditions of closed chain and control structure simultaneously. The closed chain dynamics model is provided to achieve the target carry manipulation for dual arm 6 DOF space robot in this paper. Based on the virtual cutoff hinge structure the manipulator arm adopts rigid motion mode, while the cooperative arm adopts compliance motion mode. The joint tracking algorithm and compliance control law are designed respectively. A numerical example of space manipulation verifies the effectiveness of the proposed method.

Key words: dual arm space robot, closed chain, manipulator arm, cooperative arm, compliance control