Balance control of multi-arm free-floating space robots during capture operation

This paper investigates the problem of the dynamic balance control of two-arm free-floating space robot capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. Such a disturbance will produce the serious impact between the manipulator hand and the object. We propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can motion along the planned trajectory to approach and capture the target and that not need to consider the disturbance for free-floating space robot. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the proposed balance control method.