抄録
A control strategy of a free-floating space robot for capturing a tumbling target is proposed, which uses angular momentum distribution. Angular momentum distribution is utilized in order to minimize the base attitude deviation of the robot. This minimization is assumed to be the priority task for target capturing. During the impact phase of the capturing operation impedance control that guarantees that the target is not pushed away is applied. In addition, during the post-impact phase a strategy for the control of the reaction wheels that absorbs the angular momentum stored in the manipulator arm is proposed.
