Zero disturbance planning for space robots during target capture

The impact problem related to the target capture by a space robot is discussed in this paper. The dynamics of the space robot for capture operation is established firstly. Then the concept of the zero disturbance direction is presented, and the condition for zero disturbance of the base during target capture is given as the impulse consisting with the zero disturbance direction. And the zero-disturbance planning method in joint space is proposed based on the bias momentum approach and the zero-disturbance direction. Finally, a planar FFSR with a 3-DOFs manipulator is selected as the research object and validity of the method is demonstrated.