Virtual mass of impedance system for free-flying target capture

This paper discusses the target motion around the contact in the satellite capture operation using a free-flying space robot. The contact force has the potential for pushing the target beyond the manipulator reach or making the target have a tumbling motion. An impedance control is useful to prevent the robot hand from pushing the target. However, the relationship between the dynamics parameters, contact characteristics, and target motion have not been clarified yet. In this paper, virtual mass of impedance system (VMI) model is proposed to represent the influence of the hand impedance on the target motion. Using this model, the condition to prevent the robot pushing the target away is clarified.