A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot

As people further develop space with advanced technology, robots have played a significant role in on-orbit servicing missions. Space can carry out more risky and complicated missions less cost than astronauts. Dual-arm perform complex effectively single-arm robots. Since the coupled dynamics between free-floating base arms exist robots, accurate coordinate control of is essential. Spacecraft release been proposed to berth/deberth spacecraft station. Based on existing missions, tangent strategy introduced this paper, which object direction final link manipulator. This dual-arm robot deploy cargo/spacecraft variable directions 3D without thrusters associated fuel consumption. For instance, operation transport cargo or modules large-scale needing assembly. Considering model uncertainties, robust controllers again uncertainties that are used high accuracy. Hence, sliding mode controller (SMC) utilized accurately strategy. comparison, we select conventional computed torque (CTC) implemented by PD-type controller. In simulations, SMC performs better tracking accuracy robustness against PD Numerical simulations indicate feasibility effectiveness manipulation robot.