Robust Control Strategy for Reactionless Manoeuvring of a Dual-Arm Space Manipulator

In this paper we present, a robust control strategy for a space robot mounted on a satellite. There are parameter uncertainties in the modeling due to the unknown payload at the end-effector. Thus to deal with such uncertainties, a robust controller is required. This paper illustrates and implements the robust control law on space robots. Specifically, we have considered the dynamics of a dual-arm six-degree of freedom planar space robot, aiming to manoeuver the arm with a reactionless base. The uncertainty in the end-effector mass has been considered while problem formulation using linear quadratic regulation (LQR) method. Hence control input has been designed using a robust control strategy. The analytical outcomes have been verified through numerical simulation.