Dual-arm flying robot control based on saturation in null space and high-order correction

<p indent="0mm">Research on the on-orbit operations of flying robots predominantly utilizes single-arm or dual-arm for grasping a single object, thereby neglecting the efficiency advantages inherent in dual-arm operations. This study investigates the scenario where a dual-arm flying robot simultaneously grasps two objects during on-orbit assembly tasks and explores constrained motion control methodologies for such systems. First, the kinematic equations of the dual-arm flying robot in a free-floating state are established based on the generalized Jacobian matrix method and the momentum conservation equation. Subsequently, leveraging the coupling dynamics between the manipulators and the base, a high-precision constrained motion control algorithm, termed HDVC-SNS, is proposed based on the high-order discretization velocity correction (HDVC) method and the saturation in the null space (SNS) method. This strategy substantially mitigates discretization errors of the control law and ensures the smooth operation of the robotic system by limiting joint velocities. Finally, the HDVC-SNS algorithm is verified by multiple sets of numerical simulations.