Detumbling a tethered space robot-target combination using optimal control

The problem of detumbling a tethered space robot-target combination system after the target is captured by the tethered space robot (TSR) is studied in this paper. Firstly, the dynamic model of the combination system is established. In order to stabilize the combination, the space tether is utilized to control the attitude. The configuration of the manipulator is designed to change the control torques provided by the space tether so as to achieve a better control performance. The solution of the optimal control which coordinates the tether tension, thruster control torque of the gripper and the manipulator is solved by Gauss pseudospectral method. The numerical simulation result shows attitude of the combination system can be controlled by the coordinated control method.