Workspace Calculation of Free-Floating Planar Dual-Arm Space Robot

D208 to dynamic coupling and high DOF, workspace problem of dual-arm space robot is much more difficult than industrial robot. In this paper, a modified VM method for modeling of free-floating planar dual-arm space robot is proposed, and the forward kinematics is deduced. Then, the workspace is classified into four categories, each of which was given an accurate mathematical definition. Accordingly, a numerical method for calculating workspace of these four categories, based on Monte Carlo method, is proposed by using SimMechanics. As a simulation example, workspace of a planar three-link dual-arm space robot is calculated, results of which validate the feasibility of dual-arm VM model and the effectiveness of numerical method proposed in this paper.