Abstract:

Recently, there are a lot of researches for the contact of space capture, but the effect of friction is rarely considered. However, as an inevitable phenomenon in capture the friction has huge influence on the contact dynamics and the space capture missions. Combined with the advantages of the Coulomb dry friction theory and the Lagrange multiplier method, a new friction model considering both sliding and viscous states was established, and then the solution to the friction and contact force vector was combined to correct the contact model. In addition, regarding the influence of contact on the base of the space robot with the method of feedback linearization, a feedback decoupling controller was designed to control the base. A planar 2-DOF space robot was simulated to demonstrate the effectiveness of the proposed model and the control method. The results verify the dynamic model by linear and angular momentum theory, and the attitude of the base showed the effectiveness of the controller.

Key words:

space capture, contact dynamics, Hertz contact theory, Coulomb dry friction theory, Lagrange multiplier method, controller design