Adaptive Detumbling and Internal Force Control of a Non-Cooperative Target Operated by Dual-Arm Space Robot

Space robot will be one of the most challenging and promising astronautical technologies and will play an import roll in the field of on-orbit servicing, especially when performing operations of dealing with debris. This paper presents an integrated control scheme for target detumbling and internal force control by using dual-arm space robot. Firstly, the problem of the target detumbling maneuver is defined and addressed using force feedback regulation, a time-optimal adaptive detumbling strategy is achieved accordingly. Next, a coordinated control algorithm is proposed for multi-arm space robot, while two control objectives internal force control and load distribution can be accomplished concurrently. On this basis, multi-arm space robot can realize the objectives of target adaptive detumbling and safe manipulation. Simulation results are presented for the designed adaptive detumbling and internal force control scheme for dual-arm robot mounted on a spacecraft and demonstrate the effectiveness of the proposed method.