Journal of Astronautics ›› 2018, Vol. 39 ›› Issue (2): 206-215.doi: 10.3873/j.issn.1000-1328.2018.02.011

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Visual Servoing and Coordination Control of Multi Arm Space Robot

FENG Xiao, LU Shan, HOU Yue yang, WANG Feng wen, JIA Ying hong   

  1. 1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;
     3. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China
  • Received:2017-03-07 Revised:2017-05-24 Online:2018-02-15 Published:2018-02-25


Aiming at the autonomous capture task with a multi-arm space robot, the kinematics of the multi-arm space robot and the relative motion kinematics are firstly formulated, and the dynamics of the space robot is derived using the Kane’s method. Then, the position-based visual servoing is used as the on-line path planning algorithm, and the zero-reaction maneuver is integrated into the algorithm to eliminate the disturbance caused by the arms. When the zero-reaction functionality is not used, two coordination controllers are designed to keep the platform’s attitude and relative position with respect to the target. One is the momentum feedforward compensation based coordination controller, and the other is the inverse dynamics controller. A simulation software called MASS (Multi-arm space-robot simulation) is coded with Matlab, with which the numerical simulation shows the effectiveness of the above methods.

Key words: Multi arm space robot, Kane’s method, Visual servoing, Coordination control, Inverse dynamics control

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