Zero Internal Force Control for a Dual-Arm Space Robot

Hong Cai Zhao; Cong Qing Wang

doi:10.4028/www.scientific.net/AMR.383-390.7449

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Zero Internal Force Control for a Dual-Arm Space...

Zero Internal Force Control for a Dual-Arm Space Robot

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

7449-7454

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.7449

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Online since:

November 2011

Authors:

Hong Cai Zhao, Cong Qing Wang

Keywords:

Dual-Arm Space Robot, Grasp System, Zero Internal Force Control

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References

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