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International Journal of Aerospace Engineering
Volume 2016, Article ID 7375685, 13 pages
Research Article

Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target

College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received 29 January 2016; Revised 3 June 2016; Accepted 15 June 2016

Academic Editor: Christopher J. Damaren

Copyright © 2016 Yanhua Han. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Dynamics modeling and control problem of a two-link manipulator mounted on a spacecraft (so-called carrier) freely flying around a space target on earth’s circular orbit is studied in the paper. The influence of the carrier’s relative movement on its manipulator is considered in dynamics modeling; nevertheless, that of the manipulator on its carrier is neglected with the assumption that the mass and inertia moment of the manipulator is far less than that of the carrier. Meanwhile, we suppose that the attitude control system of the carrier guarantees its side on which the manipulator is mounted points accurately always the space target during approaching operation. The ideal constraint forces can be out of consideration in dynamics modeling as Kane method is used. The path functions of the manipulator’s end-effector approaching the space target as well as the manipulator’s joints control torque functions are programmed to meet the soft touch requirement that the end-effector’s relative velocity to the space target is zero at touch moment. Numerical simulation validation is conducted finally.