Abstract
Capturing space targets by space robots is significant for on-orbit service and is a challenging research topic nowadays. This paper focuses on the dynamics and control of capturing a non-cooperative space target by a space robot with a long flexible manipulator. Firstly, the dynamic equation of the flexible space robot is given. The Hertz contact model is used to describe the contact force between the robot and the target. Secondly, an active compliance controller is designed to reduce the capture impact on the robot. Finally, the capture impact on the whole system is analyzed in detail in four scenarios: the combination of two kinds of movement forms and two kinds of relative positions of the robot and the target before capturing. Simulation results indicate that the capturing operation may cause complicated dynamic behaviors such as the vibration of elastic links and the continuous collision of the target. Moreover, the results show that the control method effectively offsets the capture impact on the space robot system. In general, this work lays a theoretical foundation for further study of the dynamic phenomena of the capture process.
Highlights
With the development of science and technology, human explorations of space have been growing quickly
Yoshida et al [7,8,9,10,11,12] carried out extensive studies on the operation of capturing a free-flying/free-floating object by a rigid space robot, including impact dynamics modeling, impulse minimizing, and impedance control
This formula is the dynamic equation of the flexible space robot system
Summary
With the development of science and technology, human explorations of space have been growing quickly. Yoshida et al [7,8,9,10,11,12] carried out extensive studies on the operation of capturing a free-flying/free-floating object by a rigid space robot, including impact dynamics modeling, impulse minimizing, and impedance control. Xu et al [19,20] studied the captures of a non-cooperative object and a larger flexible spacecraft by a rigid space robot, respectively. Zarafshan et al [32,33] studied the control problem of cooperative object manipulation by a rigid-flexible arm. It is essential and meaningful to research the dynamics and control of capturing a non-cooperative target by a flexible space robot.
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call