Capturing simulation of space debris with super multi-link space manipulator

Space debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator for ADR with large number of links. Light weight actuator using hydrogen storage alloy is developed for use in outer space as an actuator for the manipulator. The controllable time with the extended resolved motion rate control was examined past study. In this paper, to research the movement of the debris in the end-effector, the simple random collision model was established. Based on the results from this model, the aspects for the control of the end-effector to lower the relative velocity of debris in the controllable time is shown.