Dual arm coordination in space free-flying robot

Kazuya Yoshida, Ryo Kurazume, Yoji Umetani

Research output: Contribution to journalConference articlepeer-review

119 Citations (Scopus)


The control problem of multiple manipulators installed on a free-flying space robot is presented. Kinematics and dynamics are studied and the generalized Jacobian matrix is formulated for the motion control of a multiarm system. Individual and coordinated control of dual manipulators is discussed. For the coordinated operation, a new method of controlling two arms simultaneously--one arm traces a given path, while the other arm works both to keep the satellite attitude and to optimize the total operation torque of the system--is developed. By means of this control method, an interesting torque optimum behavior is observed and a practical target capture operation is exhibited by computer simulation.

Original languageEnglish
Pages (from-to)2516-2521
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1991
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: 1991 Apr 91991 Apr 11


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