Cooperative Dynamic Control for Dual-Arm Flying Robot in Proximity Maneuver

Abstract

This paper presents cooperative dynamic control methods for a dual armed free-flying robot for proximity maneuvering. A two-dimensional space robot model equipped with thrusters and dual three-degree-of-freedom arms is considered. Firstly, the equation of motion is derived by Kane's method. Secondly, we adapt it to point-to-point resolved motion acceleration control. We consider two cases: control with thrusters and without thrusters, and compare them. Thirdly, it is inappropriate to use thrusters for controlling the attitude because of the amount of propellant required. Thus, if a single arm is enough for a task, the other are is available to control the attitude. Several methods are discussed. Finally, when the robot avoids an obstacle or chases a moving target, point-to-point control is insufficient. We extend the control law to follow an arbitrary desired trajectory. Aligning with a target axis and chasing a moving target are demonstrated.