Dynamical simulations for space debris capture

Abstract

In general space debris objects do not possess such convenient features, and are non-cooperative. In such cases, since the conditions for capture are not favorable, tracking errors will lead to loading, and momentum transfer will occur during the capture process. In most cases, the detailed mass and inertial characteristics of the target will be unknown, and this makes impedance matching of the capture arm force control system difficult. This led to us to devise “joint virtual depth control algorithm for robot arm control which brakes the rotation of a target with unknown inertia. This paper deals with method for capturing and braking a tumbling non-cooperative target space debris. We propose a new brush type contactor as end-effecter of a robot arm for reducing the rotation rate and tumbling motion of target debris. As a means for relieving the loads generated during target tapping, we propose a new control method which controls the arm tip force according to a contact force profile. The results of simulations are also reported.