Cable-driven redundant space manipulators (CDRSMs) have significant potential applications in on-orbit servicing, owing to their light weight, low inertia, and intrinsic compliance. Especially for capturing and detumbling highly dynamic tumbling targets in space, it requires agile approaching, precise synchronizing, and compliant contact. However, the limited workspace and velocity/acceleration of the manipulator and the complex motion of the tumbling target make it essential to complete capture as quickly as possible in the limited feasible capturing time while subjecting to multiple time-varying constraints. In this article, we propose a rapid and adaptive capture method under time-varying constraints for capturing tumbling targets with CDRSM. First, we establish the multispace kinematic model of CDRSM and the dynamic model that takes the cable tension into account. Then, the time-varying end velocity and acceleration constraints related to the manipulator's configuration are derived. In order to fully exploit the maximum manipulation capabilities of CDRSM, we design a rapid and adaptive capture algorithm for capturing tumbling targets based on these time-varying constraints. Furthermore, we formulate a quadratic programming problem to improve the maximum end velocity of the manipulator. Finally, simulation results illustrate the effectiveness of the proposed method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive and Rapid Capture of Tumbling Targets by a Cable-Driven Redundant Space Manipulator Under Time-Varying Constraints


    Contributors:
    Yan, Lei (author) / Wu, Zhiwei (author) / Xu, Wenfu (author) / Cheng, Tianhong (author) / Liang, Bin (author)


    Publication date :

    2025-08-01


    Size :

    3697760 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Control of a space manipulator for capturing a tumbling object

    Luo, Z.H. / Sakawa, Y. | Tema Archive | 1990


    METHOD AND DEVICE FOR CAPTURE OF TUMBLING SPACE OBJECTS

    LINDSAY MICHAEL | European Patent Office | 2022

    Free access

    Coordinated stabilization of tumbling targets using tethered space manipulators

    Dongke Wang / Panfeng Huang / Zhongjie Meng | IEEE | 2015