Orbital debris in Earth orbit poses a threat to the future of spaceflight. To combat this issue, this paper proposes a novel robotic mechanism for non-cooperative capture and active servicing missions on non-cooperative targets; specifically, a tendon-driven manipulator is assumed for this work. The capture mechanism is a prototype symmetric two-link gripper driven by an open-ended cable-sheath transmission mechanism. Because the cable-sheath transmission mechanism is a nonlinear time-varying hysteretic system, two separate adaptive control strategies were compared against the uncontrolled and proportional-integral-derivative controlled performance of the closed-loop gripper. Specifically, an indirect control method and a direct ${\mathcal{L}}_1$ controller were employed. Experimental results demonstrate that the adaptive controllers show better tracking performance of a joint trajectory over the proportional-integral-derivative controlled and uncontrolled cases, whereas the ${\mathcal{L}}_1$ controller performs best under dynamic conditions, and the indirect controller performs best in steady state.

地球轨道上的轨道碎片对太空飞行的未来构成威胁。为了解决这个问题，本文提出了一种新的机器人机制，用于针对非合作目标的非合作捕获和主动服务任务；具体来说，这项工作假设了一个肌腱驱动的机械手。捕获机构是一个原型对称双连杆夹具，由开放式电缆鞘传输机构驱动。由于电缆护套传输机制是非线性时变滞后系统，因此将两种独立的自适应控制策略与闭环夹具的不受控制和比例积分微分控制性能进行了比较。具体来说，间接控制方法和直接控制方法${\mathcal{升}}_1$使用了控制器。实验结果表明，自适应控制器在比例积分微分控制和非控制情况下表现出更好的关节轨迹跟踪性能，而${\mathcal{升}}_1$ 控制器在动态条件下表现最好，而间接控制器在稳定状态下表现最好。