An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts

摘要

On-orbit removing tumbling targets is a critical research issue for future space missions. Repeated tentative contacts by the robot can be used to eliminate the rotational motion of a tumbling target. The elimination process depends on the accuracy of the information provided by a motion estimator, which is not discussed in conventional research. Additionally, there are few literatures that examine how to reduce the number of contacts to increase mission safety. To solve these issues, a coupling framework of a navigation method and a detumbling controller is designed in this paper. In particular, the integrated navigation method, which incorporates the momentum transfer information and the visual guidance, is developed to estimate motion information and inertia parameters of the target. The combination of two types of information ensures that the estimator can be used continuously in free-floating and contact modes without the need for measuring interaction forces. By modifying an optimal controller, a detumbling controller is designed. A sufficient condition is established such that the robot can achieve the goal of detumbling the target under the influence of estimation errors. Finally, a numerical example is provided to illustrate the effectiveness of the designed framework.