Minimum Disturbance Attitude Control Algorithm for DFFSR

Aiming at the attitude disturbance problem of Dual-arm Free Flying Space Robot(DFFSR), firstly, the kinematics equation of DFFSR has been established by using the geometric relationship of each link of DFFSR, the characteristic equation of manipulator, and the linear momentum and angular momentum conservation law of the system in microgravity environment; Secondly, based on the established Generalized Jacobian Matrix(GJM) describing the relationship between the end-effector motion velocity of DFFSR manipulator and the motion velocity of each joint, the relationship between the motion velocity of each joint of DFFSR manipulator and the angular velocity of satellite base has been derived, and the attitude interference model of DFFSR has been established; Finally, the Minimum Attitude Disturbance Map(MADM) algorithm for calculating the DFFSR manipulator has been established, and the attitude control algorithm based on MADM has been proposed. The attitude control method can ensure that the attitude of the satellite base of DFFSR remains unchanged during the movement of the manipulator.