Hybrid rigid-continuum dual-arm space robots: Modeling, coupling analysis, and coordinated motion planning

Hybrid Rigid-Continuum Space Robots are “couple strength and gentleness” and therefore more adaptable to the environment and mission. However, compared to traditional discrete multi-jointed space robots, this multi-type manipulator coexistence system has a more complex system model. The coordination planning between different types of manipulators is challenging. This paper presents a novel Hybrid Rigid-Continuum Dual-Arm Space Robot (HRCDASR) that consists of a rigid manipulator and a continuum manipulator. First, we use the definition to establish momentum equations of the continuum manipulator. On this basis, a generalized Jacobi matrix (GJM) of HRCDASR in the free-floating mode is developed for the first time. Furthermore, the coupling between different types of manipulators is studied in depth. The influence laws of different kinds of manipulators on the motion of the base are also discussed. According to the dynamic coupling feature, a coordinated planning method for HRCDASR based on task priority is proposed to minimize the interfering effects of the system during target capturing. Finally, the coupling factors of HRCDASR are analyzed in detail, and the comparison motion planning simulations are performed to validate the proposed HRCDASR planning method.