OPERATION MECHANICAL ANALYSIS AND BUFFER COMPLIANT CONTROL OF SPACE ROBOT CAPTURE SATELLITE WITH SPRING DAMPING DEVICE

In order to protect joints from impact damage during the process of space robot capturing satellite, a Spring-Damper Device (SDD) is designed between a joint motor and a manipulator. The device can not only absorb and digest the impact energy, but also limit the joint’s impact torque to a safe range through a coordinated compliance strategy. The dynamic models of a space robot and a satellite before collision are derived by a Lagrange function based on dissipation theory and a Newton-Euler function respectively. Combined with Newton's third law and the velocity and position constraints of capture points, the dynamic model of a hybrid system after capturing is obtained. The impact effect and impact force are calculated based on momentum conservation. An adaptive integral reinforcement learning control scheme based on a Barrier-Lyapunov function is proposed to solve the problem of short collision time and few data in capture operation. The stability of the system is proved by Lyapunov theorem, and the anti-impact performance of SDD and the effectiveness of compliance strategy are proved by numerical simulation.