Dynamics and control of capture of a floating rigid body by a spacecraft robotic arm

It is well known that space robots play a significant role in the human space activities. Capturing a free floating object in space is one of important missions assigned to space robots and it has increasingly attracted researchers’ attention recently. In this paper, the dynamics and control of capturing a floating rigid body using a space robot are investigated. The dynamic model of the system is established by the single direction recursive construction method and the Jourdain’s velocity variation principle. The contact force between space robots and targets has been set up based on the Hertz contact theory. Then the influence on the whole system incurred by this contact force has been thoroughly analyzed through simulations of both central and eccentric impact. Our simulation result verified the impact on the whole system caused by the contact force, and it also indicated the extreme complexity of the dynamic response caused by impact during the capture process. The space robot base attitude has been controlled using the controller based on the nonlinear decoupling method. Our simulation results showed adequate effectiveness.

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