Tracking control in space robot grasping a floating object

Tracking control and active damping control was applied in space robot capturing a floating object. The grasping operation becomes quite complicated and important for the nonlinear characteristics, such as the dynamic coupling between the manipulator and the space base, the impact of grasping and so on while space robot captures a floating object. Firstly, the dynamic model of the space robot and floating object was established, and then the impact model of grasping was introduced. Secondly, the Dynamic grasping area was created for the grasping control, applying the tracking control which as handling object by hand artificially and active damping control for reducing the impact effect to the space robot. Finally, the simulation results indicated that the operation which was applied hybrid control was better than the uniform grasping as a result that the impact force reduced to 30% approximately. The results would have important academic value and engineering significance.