Dual Arm Coordination in Space Free-Flying Robot

This paper presents the control problem of multiple ma-nipulators installed on a free-flying space robot. Firstly, kinematics and dynamics are studied and the General-ized Jacobian Matrix is formulated for the motion con-trol of multi-arm system. Then, individual and coor-dinated control of dual manipulators is discussed. For the coordinated operation, a new method to control two arms simultaneously: one arm traces a given path, while the other a rm works both to keep the satellite at-titude and to optimize a total operation torque of the system, is developed. By means of i t, an interesting torque optimum behaviour is observed and a practi-cal target capture operation is exhibited by computer simulation.