On Orbit Servicing Flexible Space Robots Dynamics and Control During Capturing Target

Abstract

Dynamics and control of a flexible space robot capturing a static target was presented in this paper. The dynamics model of the robot system is derived with Lagrangian formulation. The control method of flexible space during capturing target was discussed. Finally, some simulation tests have conducted that the proposed method can assurance the stability of capturing the object and reach a good effectiveness for capturing planning.