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

Authors

Cheng Jing, School of Mechanical Engineering and Automation, Fuzhou University, Fujian Provincial Collaborative Innovation Center of High-End Equipment Manufacturing, Fuzhou 350116, China;
Chen Li, School of Mechanical Engineering and Automation, Fuzhou University, Fujian Provincial Collaborative Innovation Center of High-End Equipment Manufacturing, Fuzhou 350116, China;

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.

Recommended Citation

Jing, Cheng and Li, Chen (2019) "Auxiliary Docking Maneuver Control Simulation of Dual-arm Space Manipulator After Capturing Operation," Journal of System Simulation: Vol. 30: Iss. 9, Article 25.
DOI: 10.16182/j.issn1004731x.joss.201809025
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss9/25

First Page

3429

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201809025

Last Page

3436

CLC

TP241

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.201809025