Abstract:

The system dynamics modeling and homing guidance design are studied for the space manipulator whose carrier is flying freely governed by the homogeneous C-W equations around a space target. Under the target fixed rotating coordinate system, the non-inertial reference system based Lagrange analytical mechanics is used to derive the dynamics equations of the two-link robotic manipulator during capturing the space target. Then the homing guidance law of the end-effector of the manipulator is designed using the properly simplified dynamics model. Finally, numerical simulation for the closed loop dynamics is conducted by substituting the guidance law into the original complex dynamics model. The correctness of the model derived and the effectiveness of the guidance law designed are verified by the simulation results.

Key words: Space manipulator, Space target, Non-inertial system, Lagrange analytical mechanics, Homing guidance〖HT〗〖HK〗〖BF〗