回転浮遊剛体系の衝突を介した運動量交換則の検討

抄録

Space debris mitigation is a key technology for on-orbit servicing. In order to capture of space debris by a space robot, contact control with translational and rotational motion is necessary for detumbling and grasping the debris. This paper elaborates on collision of rigid bodies model and experiments in microgravity. We introduce theoretical contact models and conditions for relatively detumbling. The validity of the conditions is experimentally shown by using air-floating test beds. The result contributes to relative motion control based on rigid body collision.