Coordinated Control Scheme for Dual-Arm Space Robots to Detumble Rotational Targets with Collision Avoidances

This paper proposes a coordinated control scheme for dual-arm space robots to detumble rotational targets with collision avoidances in the post-capturing phase. First, an improved acceleration potential field (AccPF*) is presented to generate detumbling velocity trajectories, which not only guides the space robot as well as the target to the terminal rest but also helps the space robot avoid obstacles. Besides, acceleration limits are considered in planning the trajectory. In order to enhance its performance of collision avoidances, both the relative positions and the relative velocities between the space robot and obstacles are considered as inputs for this trajectory planning. What's more, the trajectory's continuity is guaranteed by a developed inverse kinematic solving technique that is based on the null space of Jacobian. Subsequently, a coordinated control scheme is designed to make sure the precisely tracking of the planned trajectory while keeping the base stable. Simulations were carried out, and the results validate the effectiveness of the control scheme.