基座无扰的空间多臂机器人协调操作阻抗控制

here is coupling between base and each manipulator of Multi-Arm Free-Floating Space Robot. Movement of manipulators will cause movement of the base, and large deflection of the base may affect communication system. Therefore, in order to reduce the disturbance caused by movement of manipulators to the base, this paper proposes a base attitude undisturbed impedance control method for Multi-Arm Free-Floating Space Robot in coordinate operation. Firstly, kinematics model and dynamics model of Multi-Arm Space Robot are established, and the motion constraint relationship in coordinate operation system composed of Multi-Arm Space Robot and target is analyzed. Finally, based on the momentum conservation of coordinate operating system, a base attitude undisturbed impedance controller for coordinate operation of Multi-Arm Space Robot is introduced. Experimental results show that the method can effectively control the end position of Multi-Arm Space Robot and the internal force in coordinate operating system, while ensuring the stability of base posture.