Strategy for capturing of a tumbling space debris

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Strategy for capturing of a tumbling space debris

Nishida, Shin-Ichiro / Kawamoto, Satomi

Abstract In general space debris objects do not possess much convenient features and are non-cooperative. In such cases, since the conditions for capture are not favorable, tracking errors will lead to loading, and momentum transfer will occur during the capture process. In most cases, detailed mass and inertial characteristics of the target are unknown, either because design details are unavailable or due to changes as a result of damage sustained when failure occurred or gradual degradation over the years, and this makes impedance matching of the capture arm force control system difficult. This led to us to devise a “joint virtual depth control” algorithm for robot arm control, which brakes the rotation of a target with unknown inertia. This paper deals with a removal work strategy and control method for capturing and braking a tumbling, non-cooperative target space debris. We propose a new brush type contactor as end-effecter of a robot arm for reducing the rotational rate of the target debris. As a means for relieving the loads generated during target tapping, in addition to joint compliance control we propose a new control method that controls the arm tip force according to a contact force profile.