Contact Dynamic Modeling and Control for Tethered Space Net Robot with Asymmetric Net Configuration

摘要

As an improved version of tether-net system, Tethered Space Net Robot (TSNR) shows more advantages on active space debris removal. However, the contact dynamics of TSNR and target are still not well understood. Moreover, considering the truth that the symmetric net configuration is hard to achieve, an asymmetric net configuration is studied in this paper. Based on the contact dynamic model of TSNR, the simulations show that the net cannot close to the minimum naturally. In order to successfully capture the target with the asymmetric net configuration, a sliding mode control scheme is designed to close the opening area of the net to the minimum after collision. The simulation results show that the proposed control algorithm can make the net wrap around the target successfully.