Torque Control Algorithm and Its Simulation of Capturing a Moving target for Free Flying Space Robots

摘要

Torque control algorithm and its simulation of capturing a moving target for Free Flying Space Robots (FFSR) are discussed in this paper. The efficient recursive algorithm of joint Driven torque for FFSR is developed. The torque control algorithm combined with Resolved Motion Rate Contro (RMRC) based on Generalized Jacobian Matrix (GJM) for capturing a Moving target is proposed. The computer simulation verifies the effectiveness of the pro- Posed algorithm.