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The coordinated motion planning of a dual-arm space robot for target capturing

Published online by Cambridge University Press:  15 September 2011

Wenfu Xu ,
Yu Liu  and
Yangsheng Xu
Wenfu Xu
Affiliation:
Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, P.R. China
Yu Liu*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P.R. China
Yangsheng Xu
Affiliation:
Department of Automation and Computer-Aided Engineering, The Chinese University of Hong Kong, Hong Kong, P.R. China
*
*Corresponding author. E-mail: lyu11@hit.edu.cn
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Summary

In this paper, autonomous motion control approaches to generate the coordinated motion of a dual-arm space robot for target capturing are presented. Two typical cases are studied: (a) The coordinated dual-arm capturing of a moving target when the base is free-floating; (b) one arm is used for target capturing, and the other for keeping the base fixed inertially. Instead of solving all the variables in a unified differential equation, the solution equation of the first case is simplified into two sub-equations and practical methods are used to solve them. Therefore, the computation loads are largely reduced, and feasible trajectories can be determined. For the second case, we propose to deal with the linear and angular momentums of the system separately. The linear momentum conservation equation is used to design the configuration and the mounted pose of a balance arm to keep the inertial position of the base's center of mass, and the angular momentum conservation equation is used to estimate the desired momentum generated by the reaction wheels for maintaining the inertial attitude of the base. Finally, two typical tasks are simulated. Simulation results verify the corresponding approaches.

Keywords

Dual-arm space robotCoordinated motionTarget capturingPath planning
Type
Articles
Information
Robotica , Volume 30 , Issue 5 , September 2012 , pp. 755 - 771
Copyright
Copyright © Cambridge University Press 2011

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