Research on Coordinated Control Technology for Lunar Dual-Arm Robots

As China’s lunar exploration advances toward the construction of the International Lunar Research Station, surface operations have transitioned from single-sample collection to increasingly complex tasks such as in-situ resource utilization and precision assembly. Dual-arm robots have emerged as critical equipment due to their collaborative manipulation capabilities and load-sharing advantages. However, the lunar environment-characterized by reduced gravityposes significant challenges to maintaining trajectory accuracy. This study investigates a redundant 7-degree-of-freedom (DoF) dual-arm robotic system and proposes a hybrid feedforwardfeedback control strategy based on dynamic proportionalderivative (PD) control. To enhance computational efficiency, a joint-angle parameterized inverse kinematics algorithm is developed. A Newton-Euler dynamics model is employed to implement feedforward torque compensation. The robot features a humanoid mechanical design with a 3-DoF shoulder configuration, whose structural integrity is verified through finite element analysis (FEA). Simulation results demonstrate that the proposed control strategy limits trajectory deviations to within 1 $\mathbf{m m}$ across representative tasks including payload transport, shaft-hole assembly, and lunar regolith excavation. Furthermore, the proposed inverse kinematics algorithm achieves a computation speed 30 times faster than conventional iterative methods. These results validate the strategy’s capability for highprecision, tightly coupled manipulation, offering an efficient and reliable solution for complex lunar surface missions.