Equivalent Capture Strategy for a Space Netting Interface

Abstract:

During space capture process, because of the joints flexibility and the distortion of long tubular booms, high precision tracking and positioning performance of large space manipulator can hardly be achieved. As a result, it is difficult to realize successful capture. To solve this problem, a typical kind of netting interface fit for space capture application is introduced to improve the capture ability of the end effecter. Moreover, an equivalent capture strategy is put forward to avoid the complicate modeling problem of the unknown correcting force that acts on the grapple of the target during capture process. The proposed strategy makes the complicate capture problem to be a simple position tracking problem, thus capture can be achieved even a relative velocity exit between the end effecter and the target. Experiments show that the proposed strategy can improve the autonomous capture ability of the large end effecter.

• Periodical: Advanced Materials Research (Volumes 433-440)
• Pages: 3086-3094
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.433-440.3086
• Online since: January 2012
• Authors: Dang Yang Jie, Feng Lei Ni, Yi Song Tan, Hong Liu, He Gao Cai
• Keywords: Equivalent Capture, Large End Effecter, Netting Interface, Space Capture

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