Auxiliary Docking Maneuver Control Simulation of Dual-arm Space Manipulator After Capturing Operation

doi:10.16182/j.issn1004731x.joss.201809025

Abstract

Abstract: The auxiliary docking maneuver coordination control problems for dual-arm space robot capturing a target are discussed. The dynamic model of closed chain composite system is established based on theorem of impulse and closed-loop constraints, the impact effect of composite system after capturing operation is analyzed at the same time. The robust coordinated control method based on extended state observer (ESO) is designed for the composite system with uncertain parameters. The extended state observer is used to estimate and compensate the unknown dynamics; the precision of docking maneuver is guaranteed by composition and state feedback control. The stability of system is demonstrated through Lyapunov theory. Numerical examples confirm the effectiveness of the proposed auxiliary docking maneuver control method.

Key words: dual-arm space robot, capturing operation, closed chain system, extended state observer, auxiliary docking maneuver

CLC Number:

TP241

Cheng Jing, Chen Li. Auxiliary Docking Maneuver Control Simulation of Dual-arm Space Manipulator After Capturing Operation[J]. Journal of System Simulation, 2018, 30(9): 3429-3436.

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