Optimization-Based Planning and Control of a Dual-Arm Space Robot for On-Orbit Assembly

In this study, an energy-time optimal path planning and control for space dual-arm robot is proposed for a large space structure on-orbit assembly. First, based on the geometric structure, the kinematic relations of the end-effectors between base and the dual-arm robot are obtained while the base states and the dual-arm joints are merged into a generalized state, which is then coupled with the space module, and the coupled differential kinematic relations between the space module and the generalized state are established by the Jacobian matrix under non-conserved momenta circumstance. Next, based on the Lagrange equation, the coupled dynamic equation of the space module and generalized state is established. By introducing the path coordinates and considering the torque, velocity and acceleration constraints, the problem is reformulated into a convex second-order cone program (SOCP) problem, which ensures the global optimality of the required path. Finally, the effectiveness of the proposed method is verified by numerical simulations.