Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device

Abstract

In this paper, a space manipulator with a magnetic capture device as the end-effector is designed, and it is used to capture a self-spin target. First of all, a kinematic equation and a dynamic equation are given, then a target approach strategy for the manipulator combined with fifth-order polynomial interpolation methods for trajectory planning is designed, and then an improved PD algorithm is adopted to achieve the trajectory tracking control. For the magnetic capture device, its suction model is established through experimental fitting, and a capture strategy is set according to its characteristics. Finally, a numerical simulation is designed to prove that the control strategy designed in this paper is reasonable and effective.