Abstract After capturing a tumbling target, the combined system must be stabilized as soon as possible to ensure the safety of operation tasks. In this paper, a detumbling and stabilization strategy based on angular momentum distribution is proposed for the post-capture space robotic system. Compared with previous works, the proposed approach considers joint velocity limits, which is more suitable for practical cases. Through proper motion planning of the manipulator, the angular momentum of the target and the manipulator is transferred into the reaction wheel while keeping the attitude of the base stabilized. Simultaneously, joint velocity limits are addressed by a dynamic allocation method. Furthermore, a modified identification model with a scaling factor which can provide better converge performance is used to obtained the unknown parameters of the tumbling target, and thus the accurate angular momentum of the target can be obtained for the motion planning after a transition phase. A simulation study is conducted to verify the feasibility and effectiveness of the proposed strategy.

中文翻译：

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使用具有关节速度限制的空间机械手对翻滚目标进行解体和稳定

摘要 捕获翻滚目标后，必须尽快稳定组合系统，以确保作业任务的安全。在本文中，针对捕获后空间机器人系统提出了一种基于角动量分布的翻滚和稳定策略。与以前的工作相比，所提出的方法考虑了关节速度限制，更适合实际情况。通过机械臂的自主运动规划，在保持底座姿态稳定的同时，将目标和机械臂的角动量传递到反作用轮中。同时，关节速度限制由动态分配方法解决。此外，使用具有更好收敛性能的缩放因子的修正识别模型来获取翻滚目标的未知参数，从而获得目标的准确角动量，用于过渡阶段后的运动规划。进行模拟研究以验证所提出策略的可行性和有效性。