2010
IMAACA 2010 Proceeding
Trajectory control of a three DOF dual arm space robot with small attitude disturbance
Authors: Haresh Patolia, P. M. Pathak, S. C. Jain
Abstract
This work presents a trajectory planning strategy for a three degree of freedom (DOF) dual arm space robot in work space. The strategy is based on the principle of dynamic coupling between the tip motion and the vehicle motion of the space robot. The strategy uses the two arms of three link serial manipulator. One arm called mission arm achieves the trajectory control task while the other arm called balance arm moves in a way to reduce the attitude of the vehicle. A robust overwhelming controller is used for trajectory control of tip of the mission arm. The first and second joint rotations of balance arm are based on the first and second joint rotations of mission arm whereas the third joint rotation of balance arm is carried out such that small attitude disturbance of vehicle takes place. An example of three DOF dual arm space robot is considered to illustrate the methodology. Bond graph has been adopted as modeling tool as it facilitates the system modeling from the physical paradigm itself and it is easy to develop various control strategies by modifying the physical paradigm.
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