Impedance-Sliding Mode Control With Force Constraints for Space Robots Capturing Non-Cooperative Objects

摘要

The safe realization of on-orbit capture remains a challenging task because of uncontrolled service objects, big impact forces, post-impact control, and so on. In this study, based on the relationships between the kinematics and forces established by impedance control, a force constraint function is developed to reduce the contact force during the collision process of capture. Additionally, to realize flexible contact and improve motion performance during the capture process, a control method combining impedance and a sliding mode is designed to make the end-effector exhibit mass-spring-damping behavior after contact with the target, decreasing movement overshoot and stabilization time. Finally, numerical simulations are carried out in a scenario where a planar two-link space robot is utilized to capture a non-cooperative target, and the effectiveness of the proposed method is demonstrated.