The rapid growth of space debris poses a serious threat to space exploration activities. Large space debris, such as malfunctioning satellites, are generally uncooperative tumbling objects with flexible appendages. This paper investigates the detumbling scheme for a flexible target using a flexible-base space robot in post-capture phase. This scheme consists of trajectory planning and coordination control, which can bring the target to rest and stabilize the base attitude of the space robot while suppressing the vibrations of the flexible panels. In this paper, a recursive method based on the Newton–Euler formulation is employed to derive the kinematics and dynamics of the combined system. The trajectory planning of the end-effector is converted to a constrained multiobjective optimization problem, whose Pareto front is obtained by the multiobjective particle swarm optimization (MOPSO) algorithm. A coordination controller is developed to track the planned trajectories of the space robot. The presented numerical simulations verify the effectiveness of the detumbling scheme and its robustness to space targets with parametric uncertainties.

空间碎片的迅速增长对空间探索活动构成了严重威胁。大空间碎片（例如卫星故障）通常是带有弹性附件的不合作的翻滚物体。本文研究了在捕获后阶段使用柔性基础太空机器人对柔性目标进行脱弹的方案。该方案包括轨迹规划和协调控制，可以使目标静止并稳定空间机器人的基本姿态，同时抑制柔性面板的振动。在本文中，基于牛顿-欧拉公式的递归方法被用来推导组合系统的运动学和动力学。末端执行器的轨迹规划被转换为约束多目标优化问题，通过多目标粒子群优化（MOPSO）算法获得其Pareto前沿。开发了协调控制器来跟踪太空机器人的计划轨迹。所提供的数值模拟验证了该解算方案的有效性及其对具有参数不确定性的空间目标的鲁棒性。