Coordinated Control after Grasping the Space Targets Using Controllable Damping Mechanism

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