Stability Control Strategy of Space Manipulator Capturing Hovering Spacecraft

The impact of the contact collision during the capture of the hovering spacecraft by the space manipulator seriously affects the docking efficiency and quality. Aiming at this problem, this paper proposes a stability control strategy for the manipulator to capture the hovering spacecraft. The pose compensation control strategy for space manipulator based on the PD control model and the contact-tracking control strategy of the space manipulator based on the impedance control model are designed. The pose compensation control strategy mainly compensates the positional disturbance of the space manipulator during the capture process, so that the end of the manipulator can remain stable under multiple contact collisions, avoiding the target escape due to excessive collision disturbance. The contact-tracking control strategy can realize the continuous contact between the flexible wireropes and the target by control method of force tracking, and the target can be captured only by a single contact collision. This control strategy can greatly reduce the disturbance caused by the contact collision and improve the reliability of the capture operation.