Robust Control of Dual-Arm Space Robot System in Inertial Space

In this paper, the robust control scheme of free-floating dual-arm space robot system with two payloads is proposed. First, the dynamic equations of free-floating dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach and the Jacobi matrix of system, the control inputs and outputs are expanded. Based on the above results, a robust control scheme of dual-arm space robot system with unknown payload parameters to track the desired trajectories in inertial space is developed. A simulation study of planar free-floating dual-arm space robot system is presented. The simulation results show that the proposed control scheme is feasible and effective.