Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation

Abstract

Controlled force-torque exertion by a small-scaled free-flying space robot will be potentially required for future on-orbit assembly missions. This paper presents a hybrid controller to achieve the desired end-effector motion and contact forces required for driving a screw into a floating target. Attitude of the spacecraft base is controlled simultaneously. Postcapture control to stabilize the entire system is also addressed in this paper. Simulation results have demonstrated the effectiveness of the proposed control laws.