Fig. 1. Dual-arm space robot and target spacecraft systems

Fig. 2. Structure of SDBD

Fig. 3. Control block diagram of force load servo system

Fig. 4. Max impact torque without SDBD

Fig. 5. Max impact torque with SDBD

Fig. 6. Percentage reduction in max impact torque

Fig. 7. Base attitude angle trajectory of space robot

Fig. 8. Left link joint angles trajectory of space robot

Fig. 9. Right link joint angles trajectory of space robot

Fig. 10. Docking device attitude angle trajectory of spacecraft

Fig. 11. Docking device position trajectory of spacecraft

Fig. 12. Docking device output force of spacecraft

Fig. 13. Base attitude control torque of space robot

Fig. 14. Left link joint control torques of space robot

Fig. 15. Right link joint control torques of space robot