Compliant control of a space robot with multi arms for capturing large tumbling target

When a chaser with multi arms grasps a large tumbling target, the base of chaser and the target cannot reach relative static immediately, the residual angular momentum between them need to be exchanged between each other to achieve relatively static. In the process, the arms are susceptible to damage for the external impulse force. Based on the characteristics of large tumbling space debris, this paper proposes an effective method for whole-body compliant control of capturing space debris safety. Firstly, the kinematics and dynamics models are established. Secondly, to analyze the characteristics of capturing of large tumbling target, a simplified kinematics model about the center of mass of chaser is established. Subsequently, we propose a method to distribute the desired external force to each arm optimized, and propose a regulator based on the dissipation vectors. With a distributer of minimum L₂ norm and a regulator based on the dissipation vectors, the chaser can control the arms to avoid damage from external forces effectively. Finally, simulation results are appended, and the effectiveness of the compliant control strategy is verified by comparing the scenes with and without compliant controller.