Zero Internal Force Control for a Dual-Arm Space Robot
This paper discuses the zero internal force control of a dual-arm space robot installed on a free-flying spacecraft without base position and orientation control holding a single object. In order to save energy consumption, scheme with zero internal forces control, in which the disturbance to the base can be effectively decreased. The validity of this method is proved by computer simulations for a grasp system with a dual-arm space robot of three freedoms.
H. C. Zhao and C. Q. Wang, "Zero Internal Force Control for a Dual-Arm Space Robot", Advanced Materials Research, Vols. 383-390, pp. 7449-7454, 2012