PD control of coordinated manipulation for multi-free-flying space robot

The PD controller and simulation of multi-free-flying space robot operating target in microgravity environment is proposed in this paper. First, dynamics equation after multi-free-flying space robot captured target is analyzed. Then, PD controller combined with generalized Jacobian matrix is proposed and analyzed its asymptotical stability. Finally, the algorithm was implemented with computer simulation. Simulation results show that the ability to track desired position of the target operated by multi-free-flying space robots.