Bo-Rui Song

Obstacle Avoidance of Dual-Arm Space Robots via Nonlinear Model Predictive Control and Velocity Dampers

Compared with a single-arm configuration, a dualarm space robot can share grasping loads, improve capture stability, and provide mutual backup during non-cooperative target operations. This paper addresses the coordinated pre-capture of a spinning non-cooperative target by a dual-arm free-flying space robot considering...