Abstract:The in-orbit operation of spatial manipulators is one of the most widely applied technologies in current space on-orbit services. However, the pose coupling effect between the floating base and the arm of the manipulator during operation is very significant, posing new challenges for the design of control systems. To address the integrated modeling and control problems of pose in multi-rigid body systems, this paper improves the dual quaternion-based integrated modeling and control method, making it applicable to multi-rigid body systems. This method can not only accurately describe complex mechanical relationships but also effectively handle pose coupling issues. Initially, based on the hinge model, a recursive relationship of velocity-angular velocity in the form of dual quaternions is established. Then, using the force-torque transmission relationship between hinges, a recursive form of inverse dynamics equations is established to create a matrix form of integrated forward dynamics equations for the control system. The dynamics modeling issues of the actuators are then discussed, followed by separate discussions on the integrated control of pose for both the manipulator and the floating base. Finally, a modeling control simulation of a combination of a six-degree-of-freedom manipulator and a floating base was conducted. The results of the numerical simulation demonstrate the effectiveness and feasibility of the proposed dynamics modeling and control method.