Adaptive detumbling control of dual-arm space robot after capturing non-cooperative target

Abstract

This research focuses on the detumbling planning and control method for the dual-arm space robot post-capturing a non-cooperative tumbling target, which takes the uncertainty of target’s inertial parameters and generalized input constraints of robotic system into consideration. Firstly, based on the concept of task compatibility, an efficient detumbling strategy without optimization algorithm is proposed, where the target’s desired acceleration is in the opposite direction of its velocity with the magnitude determined by scaling factor. Next, a compliance control scheme is designed to track the desired trajectory and the desired contact forces by establishing impedance control for the target and end-effectors. Finally, considering the target’s dynamic uncertainties, an adaptive controller is included to compensate the effects of uncertainty and ensure stable detumbling. The simulation results are presented for detumbling a target with inertial parameter uncertainties using a 7 degree-of-freedom dual-arm space robot, which demonstrate the effectiveness of the proposed method.