Abstract The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D space, the dual-arm space robot could be more efficient and safer than single-arm space robot to carry out the complicated tasks for spinning targets. The paper extends the model of a dual-arm space robot with Reaction Wheels into 3D space, which is more realistic in practice. The desired trajectories for end-effectors of the space robot are designed to securely approach and prepare to capture the spinning object through synchronising with the grasp points, while at the same time the desired attitude of the base could be maintained. Then coordinated control of the base and end-effectors could be carried out by Nonlinear Model Predictive Controller (NMPC) with the consideration of the uncertainties of the space robot system. NMPC has performed with a high accuracy without the uncertainties of the space robot system. Considering the imperfect knowledge of the mass and inertia as the uncertainties, NMPC could hold the accuracy of tracking error at the same level of accuracy in the presence of the uncertainties.

中文翻译：

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双臂空间机器人在 3D 空间接近和同步旋转目标的运动的协调控制

摘要 由于空间探索的快速发展，空间碎片和旋转报废卫星等空间非合作物体引起了人们的极大关注。为了接近和捕捉 3D 空间中的旋转目标，双臂空间机器人可以比单臂空间机器人更高效、更安全地执行旋转目标的复杂任务。论文将带有反作用轮的双臂空间机器人模型扩展到3D空间，在实践中更加逼真。空间机器人末端执行器的所需轨迹旨在通过与抓握点同步来安全地接近并准备捕获旋转物体，同时可以保持底座的所需姿态。然后考虑到空间机器人系统的不确定性，可以通过非线性模型预测控制器（NMPC）对基座和末端执行器进行协调控制。NMPC 以高精度执行，没有空间机器人系统的不确定性。考虑到质量和惯性的不完善知识作为不确定性，NMPC可以在存在不确定性的情况下将跟踪误差的精度保持在相同的精度水平。