Development of a dual-joint controller for space modular robotic system

This paper studies a dual-joint controller for a space modular robotic system. First of all, a dual-joint module of the space modular robotic system is introduced; then, the features of the hardware and software system of the dual-joint controller are described, as well as design details and fault-tolerant mechanism; finally, the performance specifications of the dual-joint control system are also presented. Many space proven design technologies and experiences are adopted, so the dual-joint controller is characterized by high reliability and practicability.