Dual-arm Coordinated Compliant Control for Maneuvering Orbital Targets
In order to cope with the sudden change of the internal forces between both manipulators and the target due to its unexpected maneuvering,a dual-arm coordinated compliant controller for maneuvering tar-get is proposed.Firstly,the open chain dynamics and the closed chain dynamics of dual-arm space manip-ulators are established,respectively,for dual-arm coordinated compliant operation tasks.Then,by taking into consideration the disturbance caused by the unexpected maneuvering of the target,the autonomous ad-justment strategy for the impedance parameters is designed,which can ensure the smoothness and safety of the dual-arm coordinated operation tasks in the case of significant changes of the internal forces between both the manipulators and the target.Finally,a physical simulation experiment system is deployed for du-al-arm coordinated compliant operation,and an experiment is implemented,which shows the performance of the proposed dual-arm coordinated transfer controller.
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维普
