Coordinated Control after Grasping the Space Targets Using Controllable Damping Mechanism

Abstract

Compliant capture of the space non-cooperative targets is a key technology in on-orbit services. A great challenge is that the multi-dimensional contact force generated by the tumbling space target can destabilize the spacecraft-manipulator system (SMS), which may eventually cause failure of the capture task. A full-dimensional controllable damping mechanism (FDCDM) with gyroscopic structure is introduced into the joint of the SMS to buffer the multi-dimensional contact forces during capture. The six-dimensional damping force outputs by the FDCDM can be equivalent to the actuator outputs in the end joint, which could form a coordinated control system with the torque of base flywheel and active joints. The whole-body dynamic model of SMS with FDCDM is established using the Kane method. Furthermore, a backstepping non-singular sliding mode control is proposed to optimize the momentum distribution and impact absorption. The characteristics of collision process for the above SMS-FDCDM system is analyzed in the ADAMS workspace, and the experiments performed in MATLAB demonstrate that the full-dimensional damping mechanism and coordinated control can greatly reduce the vibration caused by the impact force, and the attitude of SMS is quickly stabilized after capture, which proves the feasibility of its application in non-cooperative target capturing tasks.