Impact dynamics and control of a flexible dual-arm space robot capturing an object

摘要

In this paper, we present the effect of payload collision on the dynamics and control of a flexible dual-arm space robot capturing an object. The dynamics model of the robot system is derived with Lagrangian formulation. The two flexible links are modeled as Euler–Bernoulli beams with two bending modes each. Initial conditions are derived from the impact model to simulate the post-impact dynamics of the whole systems. A PD controller is designed, whose purpose is to maintain stabilization of the robot system after the capture of the object. The dynamical simulations are carried out in two cases: the robot system is uncontrolled and controlled after impact. The simulation result shows that impact effect of the object on the space robot is great. It also shows that the joint angles of base and manipulators quickly reach steady state through feedback control.