In this paper, the contact control problem of a space robot to grasp a non-cooperative satellite is investigated in detail, and a new capture control strategy is proposed. Firstly, the dynamic equation of the robot system is derived based on the multibody dynamics theory, and a modified Hertz model is used to describe the contact force between the robot end-effector and the target satellite. Then, a novel position-based impedance control strategy for capturing the target satellite is proposed. This control strategy is to capture the target satellite by realizing soft contact between the end-effector and the target satellite, thus the target satellite will not depart from the end-effector after their contact. Different from the other existing capture control strategies, the proposed strategy needs only the kinematic information of the space robot, so the control performance requirement is lower and is easier to implement in practice. To verify the validity of the proposed capture control strategy, simulations are conducted at the end of this paper, and the results indicate that the target satellite can be grasped effectively using the proposed capture control strategy if the motion of the target satellite is translational or tumbling.

本文详细研究了空间机器人抓住非合作卫星的接触控制问题，提出了一种新的捕获控制策略。首先，基于多体动力学理论推导了机器人系统的动力学方程，并使用改进的赫兹模型描述了机器人末端执行器与目标卫星之间的接触力。然后，提出了一种用于捕获目标卫星的基于位置的新型阻抗控制策略。这种控制策略是通过实现末端执行器和目标卫星之间的软接触来捕获目标卫星，因此目标卫星在接触之后不会脱离末端执行器。与其他现有的捕获控制策略不同，该策略仅需要太空机器人的运动学信息，因此对控制性能的要求较低，在实践中更易于实现。为了验证所提出的捕获控制策略的有效性，本文进行了仿真，结果表明，如果目标卫星的运动是平移或翻滚，则可以使用所提出的捕获控制策略有效地抓住目标卫星。 。