Abstract: According to the application requirements of flexible space manipulator in orbit service, a cooperative control method of space dual arm robot is proposed based on the coupling of rigid body motion and flexible vibration. Firstly, the concept of space pose variable is introduced. The Jacobian matrix for cooperative control target is constructed. The rigid flexible coupling dynamic model of flexible space robot system is established. The inverse kinematics solution is obtained based on the specified minimum distance. And the Jacobian matrix of the system is obtained according to the conservation relationship of momentum moment of the system and the movement speed of the end of the manipulator. Then the joint angle is obtained by using the damped least square method so that the flexible space robot can effectively complete the task of cooperative control and space obstacle avoidance. And the correctness of the algorithm is verified based on the software environment of RecurDyn v7r5. Finally, based on the virtual prototype of SolidWorks and Adams, a threedimensional CAD model of the flexible space robot system is established. And the simulation is carried out in combination with the space on orbit transportation task. The simulation results of the joint operation and motion trajectory of the flexible space robot verify the effectiveness of the algorithm in this paper.

Key words: flexible space robot, coordinated control, ADAMS virtual prototype； obstacles avoidance