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Dual arm robot astronaut design and coordinated force control

According to China's space station operation and maintenance requirements, this paper first discusses the dual arm robot astronaut mission requirements and design principles. Then the robot's configuration, anthropomorphic robot arm and its driving joint, five fingered dexterous hand, head, neck and other mechanisms are designed in detail. A distributed control scheme for the robot is proposed. The dynamic model of the robot is established, and the master-slave force compliance control method is adopted to control the contact force between the two arms. Finally, the dynamics and control simulation model is established to verify the control method. Simulation results show that the contact force between the master arm and the slave arm can be well controlled.