Capture dynamics and net closing control for tethered space net robot

The whole capture process of the tethered space net robot (TSNR) is investigated in a study and the criterion of a successful net capture is discussed. If the behavior of the net after collision does not satisfy the criterion, which means that the net may not totally wrap around the target, a net closing control algorithm is needed to ensure a successful capture. The net closing of the TSNR after collision is also focused upon in this study. The mass-spring model of the TSNR and the continuous contact dynamic model are derived for the investigations. To investigate the contact dynamics of the TSNR, four critical capture parameters are identified and analyzed based on numerical simulations. The criterion to describe a successful net capture is also discussed.