A Satellite-Capturing StrategyWith Bias Initial Momentum

摘要

This paper presents a new strategy for capturinga free floating satellite initially having angular momentum.The main focus is on the base attitude before, during andafter the catch.We use a joint space orthogonal decompositionprocedure involving the so-called reaction null space duringthe pre-impact and post-impact phases. The idea of preloadingbias momentum in a space robot system is discussed.Furthermore, we show that if proper post impact control isutilized the base deviation can be minimized.