Deorbiting of Satellites by a Free-Flying Space Robot by Combining Positioning Control and Impedance Control

摘要

This study focused on the deorbiting of floating space debris using a free-flying space chaser robot with a robotic manipulator. Nanos et al. proposed continuous contact control between the manipulator and debris. The conventional method guarantees the required impedance behavior when the manipulator contacts the debris. However, it does not guarantee a safe distance between the robot and debris, and collisions between them may occur. In this paper, we propose continuous contact control between the manipulator and debris by adding positioning control to the conventional method. The proposed method guarantees not only the impedance behavior but also a safe distance between the robot and debris. Simulations in the planar space were used to verify the approach of the contact equipment to the target, and its ability to maintain the relative attitude.