A robotic small satellite for space debris capture

Space debris objects are generally tumbling in orbit, and so capturing and braking them involves complicated dynamical interactions between the object, the so-called ldquoremoverrdquo spacecraft, and its robot arm, with the possibility of strong loading occurring during the procedure. In this paper, the remover and its space debris capture strategy is described which proposes the application of joint virtual depth control to the capture robot arm. We present the results of simulations and experiments that confirm the feasibility of this technique.