Motion Trajectory Generation of Slave Arm of Dual-Arm Space Robot for Eliminating Disturbance

In space application, the space robot is being used to repair and construct spacecrafts. As well known, the high dynamic coupling between the arm and its base causes the interactive disturbance. The motion of arm disturbs the attitude of the base, the attitude changes affect the manipulating precision of the end-effector. Even, such a disturbance may produce the serious impact between the arm´s end-effector and the object. In this paper, we investigate the attitude disturbance problem of free-floating dual-arm space robot. We define a arm as the active arm for completing the mission, and the other is defined as the slave arm for eliminating the attitude disturbance. Thus, we map the relationship between the active arm motion and the slave arm motion for minimizing the disturbance to the base. Then, we obtain the motion trajectory of the slave arm according to the motion of active arm. An example shows that the proposed trajectory generation method has good performances and eliminates the attitude disturbance in time.