关键词: 双臂空间机器人；关节运动；遗传算法；学习控制；自由漂浮

Abstract: In this paper, the kinematics and dynamics of the free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for such system is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm (GA) is used to control the system with its controller structure designed. A compensating learning control term is added to the error equation to deal with the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method.

Key words: Space Robot System with Dual-arms, Joint motion, genetic algorithm, learning control, Free-floating