Contact control for grasping a non-cooperative satellite by a space robot
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Contact control for grasping a non-cooperative satellite by a space robot Xiao-Feng Liu1 · Guo-Ping Cai1 · Ming-Ming Wang2 · Wu-Jun Chen1
Received: 27 June 2019 / Accepted: 4 March 2020 © Springer Nature B.V. 2020
Abstract In this paper, the contact control problem of a space robot to grasp a noncooperative satellite is investigated in detail, and a new capture control strategy is proposed. Firstly, the dynamic equation of the robot system is derived based on the multibody dynamics theory, and a modified Hertz model is used to describe the contact force between the robot end-effector and the target satellite. Then, a novel position-based impedance control strategy for capturing the target satellite is proposed. This control strategy is to capture the target satellite by realizing soft contact between the end-effector and the target satellite, thus the target satellite will not depart from the end-effector after their contact. Different from the other existing capture control strategies, the proposed strategy needs only the kinematic information of the space robot, so the control performance requirement is lower and is easier to implement in practice. To verify the validity of the proposed capture control strategy, simulations are conducted at the end of this paper, and the results indicate that the target satellite can be grasped effectively using the proposed capture control strategy if the motion of the target satellite is translational or tumbling. Keywords Space robot · Grasping · Non-cooperative satellite · Position-based impedance control
1 Introduction With the increase in the number of on-orbit spacecraft, there has been a growing demand in using space robotic systems for on-orbit servicing, which includes repairing, parts replac-
B G.-P. Cai
[email protected]
B M.-M. Wang
[email protected]
1
School of Naval Architecture, Ocean & Civil Engineering, State Key Laboratory of Ocean Engineering, Key Laboratory of Hydrodynamics of Ministry of Education, Shanghai Jiaotong University, Shanghai 200240, China
2
Science and Technology on Aerospace Flight Dynamics Laboratory, Northwestern Polytechnical University, Xi’an 710072, China
X.-F. Liu et al.
ing, refueling, and other tasks. As the key step of on-orbit servicing, capturing operation is the prerequisite of subsequent servicing operation. Although space robotics based on-orbit servicing technologies have been significantly advanced in the past two decades [1–5], capturing a non-cooperative object, such as an out-of-control tumbling satellite, is still a very challenging and risky mission. It can be said that any incorrect control, especially in the grasping phase, will not only cause the failure of a capture mission, but will also threaten the security of the servicing space robot and the target object. Therefore, the grasping control problem deserves further study. Up to now, many methodologies and strategies on the control issue of grasping a noncooperative object were proposed in the literature. For example, to reduce the grasping impact on the a
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