Non-cooperative Target Capture and Coordinated Path Planning in Spatial Two-Armed Robots

The target capture of space multi-arm robot is one of the key technologies that need to be solved in the engineering of in-orbit service in the future. Multi-arm space robot is an integrity constraint, and there is dynamic coupling and interference between its base and mechanical arm. This disturbance exerted by the mechanical arm to the movement of the base spacecraft will affect the working accuracy of the space robot to some extent, and will lead to the failure of the in-orbit operation mission. In this paper, the kinematics and dynamics model of the spatial two-arm robot is established, the capture path algorithm is designed by the proportional guidance method of the operating arm, and the motion planning of the compensation arm is designed to eliminate the disturbance of the translation and rotation of the base by the operating arm. The motion simulation is carried out on the basis of the example.