Preimpact Configuration Analysis of Dual-Arm Space Manipulator Capturing Object

Based on momentum conservation principle of space manipulator, this paper presents precapture configuration of space manipulator capturing object. Two unique precapture configurations, "straight-arm capture" (SAC) and "generalized straight-arm capture" (GSAC), were proposed based on the single-arm system; then GSAC was extended to the dual-arm system and the corresponding angular relation was obtained. This configuration satisfies GSAC and can reduce the coupling angular momentum during capture operation and the burden of postimpact control. This avoids the limitation of joint velocity when controlling the compound (manipulator and object) and guarantees the stability of system. The simulation results show the effectiveness of this method.