A Coordination Planning Method of the Hybrid Two-Arm Space Robot for On-Orbit Servicing

A geosynchronous-orbit (GEO) satellite that is out of order due to component failure, will bring critical challenges for space robots to capture and repair it. To overcome the above challenges, a space robot system equipped with a traditional redundant manipulator (Arm-a) and a segmented hyper-redundant manipulator (Arm-b) is introduced in the paper. Firstly, the kinematics model considering the conservation of momentum is established. The coordination trajectory planning method is then proposed to make space robot detect the target point in the confined space. Based on the position, attitude, and configuration deviations, the linear and angular velocities of the two arms are planned at the same time. In order to realize the configuration planning of the system, a modified generalized Jacobian (MGJ) is derived. The joint angular velocities of two arms are resolved by the MGJ. Furthermore, joint angles of Arm-a and Arm-b are obtained according to numerical integration. Finally a co-simulation system is designed and the numerical simulation is carried out. The simulation results demonstrate the proposed method.