The Relative Speed Control of Super Multi-Link Space Manipulator to Capture Space Debris

Abstract

Space debris became one of the difficulties for mankind to utilize the space environment. Among the variable efforts to the debris problem, the development of technology for the active debris removal (ADR) is especially imperative. This paper is on the motion simulation of debris capture manipulator for ADR with large number of links. A lightweight actuator using hydrogen storage alloy is developed for use in outer space as an actuator for the manipulator. The controllable time with the extended resolved motion rate control was examined in the past study. In this paper, to research the motion of the debris in the interaction with the end-effector, a simple collision model for the special end-effector was established. The control law to lower the relative velocity after the impact is brought in, and the results have shown almost 90% of reduction regardless of the initial velocity of moving target debris. The proposed system will enable the system to capture the target debris more safely.

Keywords

• debris capture
• space manipulator
• fingers sphere model
• extended resolved motion rate control