Target manipulation ability of space robot in post-capture phase

Space assembly, maintenance, transfer are important tasks in on-orbit servicing. Such tasks need space robot moving with a target. To analyze the target manipulation ability of space robot after capturing a large target, this paper introduces the composite Jacobin matrix of space robot, and then analyzes the change of manipulability by composite Jacobin matrix. Three simulations demonstrate the target manipulation ability of space robot based on real engineering application. Some valuable conclusions are drawn for the mechanical analysis and practical design, especially for a small space robot captured a large object.