关键词: 闭链混合系统, 捕获目标, 冲击效应, 力/位形, 鲁棒, 双臂空间机器人

Abstract: The impact effect of a free-floating dual-arm space robot to capture a non-cooperative target is analyzed, and during the post-capture the space robot and the target compose a closed-chain hybrid system, then a clamp force and position robust stabilization control is discussed. The target capture process is considered as pre-impact phase，impact phase and post-impact phase. The space robot and target are separated subsystem in the pre-impact phase, and the dynamics model of free-floating space robot is derived by the second Lagrange equation. In the impact phase, base on the total momentum conservation of space robot and target, the impact effect for the space robot motion is calculated by momentum theorem. In the post-impact phase, the dual-arm space robot has captured the target and formed a closed-chain hybrid system, considering the unstable motion which is caused by the impact effect in the impact phase, a robust control algorithm is proposed for the stabilization control, to achieve the coordinate control of the dual arm’s clamp force to the target and space robot configuration position, and reach the desired stabilization state. The simulation verifies the above control algorithm.

Key words: capture target, closed-chain hybrid system, dual-arm space robot, force/position, impact effect, robust