Research of model and capture domain of manipulator in space

Because of the characteristic of the space environment, the object to be caught is floating. The object's situation relative to the manipulator will change when the manipulator catches it because of impact. If the object is caught, the manipulator should be able to catch the object in an area in stead of a point. The definition of the capture and a kind of scheme catching global object with manipulator in the space based on the definition were proposed. The mathematical model was obtained via the catching scheme. The capture domain for some global object and manipulator was ascertained by simulations. The analysis about the simulations illustrates the validity of the catching scheme.