関節力覚制御アームによる衛星捕獲

Abstract

Since attitude control is not working, most space debris is rotating. For this reason, in capture of the space debris, there is a complicated dynamic interaction among a target, a servicing vehicle, and its robot arm, and there is a possibility that big load may occur. This paper proposes a new capture strategy of the space debris that utilizes joint impedance control and joint virtual depth control to the arm for capture. The validity of the proposed strategy is verified by some simulations and experiments.