Skip to main content
SpringerLink
Log in

Resistance control: a new collision control method for on-orbit service

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

Collision of two objects is an inevitable physical phenomenon in the on-orbit service, such as docking, detumbling, and capturing. Preventing the separation of two objects and controlling their contact force after a collision are the keys to successfully executing these on-orbit tasks, particularly when the above-noted tasks involve a noncooperative object. This paper investigates the collision control problem in the on-orbit service in detail. Firstly, we have performed a rigorous analytical study of the damping control method given in our previous work, which can prolong the contact duration after a collision of two objects and has been validated through simulation experiments. Our theoretical analysis proves that the damping control method can successfully extend the contact duration by applying an external force to a collision system, whose functions are to modify the equilibrium position and the damping of the collision system. The external force is also referred to as the damping control force. In addition, inspired by the analysis result, this study has further proposed a new collision control method, also referred to as the resistance control method. Unlike the damping control force that be time-varying, the resistance control force is substantially constant. By adjusting the resistance control force and the initial relative velocity of a collision of two objects, the separation of two objects can be prevented, and their contact force can be controlled and maintained. Moreover, our theoretical analysis and simulation results have both demonstrated the effectiveness of this novel resistance control method over various scenarios.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17

Similar content being viewed by others

Data availability

The datasets analyzed during the current study are available from the corresponding author on reasonable request.

References

  1. Li, S., She, Y.: Recent advances in contact dynamics and post-capture control for combined spacecraft. Prog. Aerosp. Sci. 120, 100678 (2021)

    Article  Google Scholar 

  2. Huang, W., He, D., Li, Y., Zhang, D., Zou, H., Liu, H., Yang, W., Qin, L., Fei, Q.: Nonlinear dynamic modeling of a tether-net system for space debris capture. Nonlinear Dyn. (2022). https://doi.org/10.1007/s11071-022-07718-7

    Article  Google Scholar 

  3. Dai, H., Chen, H., Yue, X.: Dynamic analysis of detumbling a rotating satellite using flexible deceleration rod. Nonlinear Dyn. 108, 3331–3345 (2022)

    Article  Google Scholar 

  4. Lee, S.H., Yi, B.J., Kim, S.H., Kwak, Y.K.: Modeling and analysis on the internal impact of a Stewart platform utilized for spacecraft docking. Adv. Robot. 15, 763–777 (2001)

    Article  Google Scholar 

  5. Dai, H., Jing, X., Sun, C., Wang, Y., Yue, X.: Accurate modeling and analysis of a bio-inspired isolation system: with application to on-orbit capture. Mech. Syst. Signal Process. 109, 111–133 (2018)

    Article  Google Scholar 

  6. Liu, Y.-Q., Yu, Z.-W., Liu, X.-F., Cai, G.-P.: Active detumbling technology for high dynamic non-cooperative space targets. Multibody Syst. Dyn. 47, 21–41 (2019)

    Article  MathSciNet  MATH  Google Scholar 

  7. Branz, F., Olivieri, L., Sansone, F., Francesconi, A.: Miniature docking mechanism for CubeSats. Acta Astronaut. 176, 510–519 (2020)

    Article  Google Scholar 

  8. Chu, M., Zhang, X., Xu, S., Yu, X., Wang, D.: Modeling and stabilization control for space-borne series-wound capturing mechanism with multi-stage damping. Mech. Syst. Signal Process. 145, 106973 (2020)

    Article  Google Scholar 

  9. Dai, H., Cao, X., Jing, X., Wang, X., Yue, X.: Bio-inspired anti-impact manipulator for capturing non-cooperative spacecraft: theory and experiment. Mech. Syst. Signal Process. 142, 106785 (2020)

    Article  Google Scholar 

  10. Yoshida, K., Nakanishi, H., Ueno, H., Inaba, N., Nishimaki, T., Oda, M.: Dynamics, control and impedance matching for robotic capture of a non-cooperative satellite. Adv. Robot. 18, 175–198 (2004)

    Article  Google Scholar 

  11. Nakanishi, H., Yoshida, K.: Impedance control for free-flying space robots -basic equations and applications. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3137–3142. IEEE (2006)

  12. Uyama, N., Hirano, D., Nakanishi, H., Nagaoka, K., Yoshida, K.: Impedance-based contact control of a free-flying space robot with respect to coefficient of restitution. In: 2011 IEEE/SICE International Symposium on System Integration (SII), pp. 1196–1201. IEEE, Kyoto (2011)

  13. Uyama, N., Nakanishi, H., Nagaoka, K., Yoshida, K.: Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture. In: IEEE International Conference on Intelligent Robots and Systems, pp. 4477–4482. IEEE (2012)

  14. Liu, X.F., Cai, G.P., Wang, M.M., Chen, W.J.: Contact control for grasping a non-cooperative satellite by a space robot. Multibody Syst. Dyn. 50, 119–141 (2020)

    Article  MathSciNet  MATH  Google Scholar 

  15. Liu, X.-F., Zhang, X.-Y., Cai, G.-P., Wang, M.-M.: A collision control strategy for detumbling a non-cooperative spacecraft by a robotic arm. Multibody Syst. Dyn. 53, 225–255 (2021)

    Article  MathSciNet  MATH  Google Scholar 

  16. Stolfi, A., Gasbarri, P., Sabatini, M.: A parametric analysis of a controlled deployable space manipulator for capturing a non-cooperative flexible satellite. Acta Astronaut. 148, 317–326 (2018)

    Article  Google Scholar 

  17. Flores-Abad, A., Garcia Teran, M.A., Ponce, I.U., Nandayapa, M.: Compliant force sensor-less capture of an object in orbit. IEEE Trans. Aerosp. Electron. Syst. 57, 497–505 (2021)

    Article  Google Scholar 

  18. Mitros, Z., Rekleitis, G., Patsiaouras, I., Papadopoulos, E.: Impedance control design for on-orbit docking using an analytical and experimental approach. In: 2017 25th Mediterranean Conference on Control and Automation (MED), pp. 1244–1249. IEEE (2017)

  19. Mou, F., Wu, S., Xiao, X., Zhang, T., Ma, O.: Control of a space manipulator capturing a rotating object in the three-dimensional space. In: 15th International Conference on Ubiquitous Robots (UR), pp. 763–768. IEEE (2018)

  20. Wu, S., Mou, F., Liu, Q., Cheng, J.: Contact dynamics and control of a space robot capturing a tumbling object. Acta Astronaut. 151, 532–542 (2018)

    Article  Google Scholar 

  21. Wang, X., Shi, L., Katupitiya, J.: A strategy to decelerate and capture a spinning object by a dual-arm space robot. Aerosp. Sci. Technol. 113, 106682 (2021)

    Article  Google Scholar 

  22. Shi, L., Xiao, X., Shan, M., Wang, X.: Force control of a space robot in on-orbit servicing operations. Acta Astronaut. 193, 469–482 (2022)

    Article  Google Scholar 

  23. Uyama, N., Narumi, T.: Hybrid impedance/position control of a free-flying space robot for detumbling a noncooperative satellite. IFAC-PapersOnLine 49, 230–235 (2016)

    Article  Google Scholar 

  24. Wang, X., Zhou, Z., Chen, Y., Chen, S.: Optimal contact control for space debris detumbling and nutation damping. Adv. Sp. Res. 66, 951–962 (2020)

    Article  Google Scholar 

  25. Dou, B., Yue, X., Zhang, T.: Optimal detumbling strategy for a non-cooperative target with unknown inertial parameters using a space manipulator. Adv. Sp. Res. 69, 3952–3965 (2022)

    Article  Google Scholar 

  26. Pérez, P.R., De Stefano, M., Lampariello, R.: Velocity matching compliant control for a space robot during capture of a free-floating target. In: IEEE Aerospace Conference Proceedings, pp. 1–9. IEEE (2018).

  27. Banerjee, A., Chanda, A., Das, R.: Historical origin and recent development on normal directional impact models for rigid body contact simulation: a critical review. Arch. Comput. Methods Eng. 24, 397–422 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  28. Zhang, J., Li, W., Zhao, L., He, G.: A continuous contact force model for impact analysis in multibody dynamics. Mech. Mach. Theory 153, 103946 (2020)

    Article  Google Scholar 

Download references

Funding

This work was supported by the Natural Science Foundation of China (Grant Nos.: 12172214, 12172215 and 51979162).

Author information

Authors and Affiliations

  1. State Key Laboratory of Ocean Engineering, Key Laboratory of Hydrodynamics of Ministry of Education, Shanghai Jiao Tong University, Shanghai, 200240, China

    Xiao-Feng Liu, Ru-Hao Wang & Guo-Ping Cai

  2. State Key Laboratory of Ocean Engineering, Marine Numerical Experiment Center, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zhi-Liang Lin

Authors
  1. Xiao-Feng Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ru-Hao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Guo-Ping Cai
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zhi-Liang Lin
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhi-Liang Lin.

Ethics declarations

Conflict of interest

We have no competing interests. All authors gave final approval for publication and agree to be accountable for all aspects of the work presented herein.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Liu, XF., Wang, RH., Cai, GP. et al. Resistance control: a new collision control method for on-orbit service. Nonlinear Dyn 111, 13969–13984 (2023). https://doi.org/10.1007/s11071-023-08588-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-023-08588-3

Keywords

Search

Navigation