Dynamic Analysis of 3D Multi Rigid Bodies with Discontinuous Velocities. (3rd Report). Target Capture Problem of Space Robot.

This paper considers dynamic analysis and control of a space robot at capturing a target. The computer simulation of this problem requires three phases: 1) dynamic motion analysis of link systems, 2) control problems of a manipulator, and 3) impulsive force analysis at a capture. Motion dynamics of free-floating link systems are formulated by Kane's equations. A resolved acceleration control is applied to determine control torque of a robot manipulator. Implicit equations associated with impulsive forces and velocity jumps in systems are utilized to analyze an intermittent motion. An order-n formulation, which efficiently solves dynamic equations of serial rigid body systems, is applied to a numerical computation method for the three phases. As numerical examples, a space robot with seven rigid bodies and a target satellite with three rigid bodies are considered. By specifying a motion path of an end-effector of the robot manipulator, the capture of the target satellite is simulated, and the impulsive forces at the capture is calculated.