Null-space-based behavior guidance of planar dual-arm UVMS
The inverse kinematic control based on mutual mapping neural network of free-floating dual-arm space robot system without the basepsilas control is discussed. With the geometrical relation and the linear, angular momentum conservation of the system, the generalized Jacobian matrix is obtained. Based on the above result, a mutual mapping neural network control scheme employing Lyapunov functions is designed to control the end-effectors to track the desired trajectory in workspace. The control scheme does not require the inverse of the Jacobian matrix. A planar dual-arm space robot system is simulated to verify the proposed control scheme.