Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

双臂机器人宇航员比单臂机器人具有更通用和灵巧的操作能力，可以更友好地与宇航员互动。机器人将不可避免地使用双臂抓住有效载荷并将其转移。闭链中臂的力控制是一个重要问题。在本文中，考虑闭链约束关系，建立了双臂宇航员的协调运动学和动力学方程。提出了两种双臂宇航员协同有效载荷操纵的柔顺控制方法。第一种方法称为主从力控制，第二种方法是共享力控制。对于前者，需要预先给出主臂所需的路径和操作力，从臂的路径和操作力由双臂机器人闭链约束方程计算。在共享控制模式下，从双臂机器人闭链约束方程中直接等价地分解出双臂的期望路径和末端操作力。最后对两种控制算法进行了仿真验证。仿真数据方差分析结果表明，两种控制方式在力控制精度上没有明显差异，但第二种控制方式的位置控制精度更高，证明主从方式对力的控制效果更好。具有明确的力分布要求和共享力控制的任务尤其适用于高精度要求。通过仿真验证了这两种控制算法。仿真数据方差分析结果表明，两种控制方式在力控制精度上没有明显差异，但第二种控制方式的位置控制精度更高，证明主从方式对力的控制效果更好。具有明确的力分布要求和共享力控制的任务尤其适用于高精度要求。通过仿真验证了这两种控制算法。仿真数据方差分析结果表明，两种控制方式在力控制精度上没有明显差异，但第二种控制方式的位置控制精度更高，证明主从方式对力的控制效果更好。具有明确的力分布要求和共享力控制的任务尤其适用于高精度要求。