Using a space robot to capture a non-cooperative spacecraft with high-speed rotation is significantly challenging since any collision generated during capturing will have great impact on both. To reduce the risk in capturing operations, it is crucial to slow down the rotation velocity of the target before capturing. Hence, this paper studies a collision control strategy for using a robotic arm to detumble a non-cooperative spacecraft. The goal of this strategy is to maintain contact between the robot and the target and to apply continuous detumbling force on the target to slow down its rotational motion. To achieve that, first the mechanism analysis of the two balls for a central collision scenario is performed. Then an overdamping control method is proposed to avoid the separation of the balls after the central collision based on the overdamping property of the mass-spring-damper system, the effectiveness of which is validated theoretically. Finally, to use this overdamping control method in the detumbling missions of space robots, a position-based overdamping control strategy is introduced. In this strategy, the relative dynamic behavior between the robotic arm tip and the contact surface of the target during detumbling is approximated to that of a mass-spring-damper system. Owing to the proposed overdamping control method, the contact between the robot and the target can be maintained, and the space robot can apply continuous control torque to slow down the rotational velocity of the target. Numerical simulations are performed to demonstrate the validity of the proposed control strategy.

由于捕获过程中产生的任何碰撞都会对两者产生重大影响，因此使用太空机器人捕获高速旋转的非合作航天器具有很大的挑战性。为了降低捕获操作中的风险，至关重要的是在捕获之前降低目标的旋转速度。因此，本文研究了一种碰撞控制策略，该策略使用机械臂分解非合作航天器。该策略的目标是保持机器人与目标之间的接触，并在目标上施加连续的弹力以减慢其旋转运动。为此，首先进行两个球在中心碰撞情况下的机理分析。然后基于质量－弹簧－阻尼器系统的过阻尼特性，提出了一种避免中心碰撞后球分离的过阻尼控制方法，其有效性在理论上得到了验证。最后，为了将这种过阻尼控制方法用于空间机器人的降落任务，提出了一种基于位置的过阻尼控制策略。在这种策略下，机械臂尖端与目标物的接触表面在翻滚过程中的相对动态行为近似于质量弹簧-阻尼器系统的相对动态行为。由于提出的过阻尼控制方法，可以保持机器人与目标之间的接触，并且太空机器人可以施加连续的控制扭矩以减慢目标的旋转速度。