Study on unified multi-domain modeling of space robot for target capturing

The dynamical performances of space robotic system result from the multi-physics interactions between mechanical, electrical, electronic, control, et al. In this paper, we developed a unified multi-domain modeling and simulation platform. The platform is composed of the following modules: the mechanism of the multi-body system; the path planner, the joint axis (including electrical motor and its drive circuit) of the space manipulator; the GNC (guidance, navigation and control) system, and the actuators used for the attitude and orbit control. Based on this platform, the operation during different stages, including far range rendezvous, close range rendezvous (is usually divided into two sub-phases: closing and final approach) and target capturing can be studied from the view of multi-physics domains. The key algorithms, such as pose measurement, GNC of the base, path planning and control of the space manipulator, and so on, can be validated using the system. As an example, the capturing process of a moving target is simulated and the simulation results are given.