On the dynamics of contact between space robots and configuration control for impact minimization

Contact between free-flying space robots, and the minimization of the impulse at contact are studied. A general approach for modeling systems with a moving base is presented. In particular, the formulation of the dynamical equations of motion for a space-based manipulator system with external applied forces are considered. The new equation of motion is then used to derive a dynamical contact model. Unlike previous approaches, the analysis takes into account both relative translational and rotational motions between contacting bodies. An analysis of the dynamical contact model reveals that the impulse at contact could be minimized by the optimization of a scalar cost function. Two approaches to the Cartesian space planning problem for space-based systems are discussed. A joint space planning strategy that achieves both trajectory tracking and impact minimization is proposed. Simulation results for a fifteen-degree-of-freedom (DOF) space robot are presented.>