Modeling, Cooperative Planning and Compliant Control of Multi-arm Space Continuous Robot for Target Manipulation

In this paper, a modeling, cooperative planning and compliant control method is presented for multi-arm space continuous robots in target manipulation. Firstly, according to the closed-chain relationship between the multi-arm space continuous robot and the target, the general equations of the closed-chain kinematics and the closed-chain dynamics are derived. Secondly, according to the above mathematical equations, the trajectory planning model of multi-arm space continuous robots for pre-capture and post-capture is established. For the pre-capture process, the null space is used to search out the cable length parameters under the limited joint angle. For the post-capture process, the nonlinear optimization method is used to find the solution that minimizes the disturbance of the base. Thirdly, aiming at the problem of internal force distribution and pose control after target capture, a compliant control model of multi-arm space continuous robots for target manipulation is constructed, so as to minimize the cable tension in the process of force/pose hybrid control. Finally, the proposed method is verified based on the Matlab/Simechanics co-simulation model. The simulation results prove the effectiveness of the proposed method.