Dynamic analysis of the compounded system formed by dual-arm space robot and the captured target

Compared with a single-arm space robot, a dual-arm space robot has much more dexterity and flexibility, and is capable to complete more complex tasks. The on-orbit capturing and manipulation of a target is the key of the on-orbit servicing mission. After the target is captured by the two arms, a compounded system is formed. The two arms connect the robotic base to the target, and a closed kinematics chain is formed. In this paper, we design a dual-arm space robotic system to serving the target spacecraft, investigate the topology, and derived the corresponding dynamic model. Based the dynamic equations, we developed a closed-loop simulation system. At last, we analyze the key problems for the closed-loop system for manipulating the target, including the joint locking torques, disturbance motion resulting from the centroid position changing, and control algorithm. The derived model and analysis results are very important for the future applications.