Comparative Analysis of Capture Control Strategies for Space Robots

This paper investigates the control strategies for space robots during the capture of target objects, focusing on the analysis of contact scenarios and the development of corresponding control methods. Three primary contact scenarios are identified: unplanned contact, controlled unilateral contact, and bilateral contact during grasping. Multibody dynamics, contact force control, and impedance control strategies are proposed. Simulations are conducted under different conditions, including variations in target mass distribution, platform control modes, and single-arm versus dual-arm operations. The results demonstrate that platform pose control significantly extends the sticking time, and single-arm sticking exhibits superior performance compared to dual-arm sticking in certain configurations. The study provides insights into optimizing capture strategies for space robotic systems.