Strategy and Control for Robotic Detumbling of Space Debris by Using Flexible Brush

Active space debris removal (ASDR) is an effective and reliable mean to keep space exploration and space environment. But space debris is always with complex attitude, including spinning and nutation, due to space environmental torque, and causing trouble in ASDR. This paper focuses on the strategy and control for robotic detumbling of space debris by using flexible brush. First, the model of detumbling-robot and flexible brush, which acts as the end-effecter, are proposed. On this basis, the contact force model, including the friction, is derived based on mechanics of materials and Coulomb friction. Subsequently, the motion and dynamic equations between robot and debris are formulated. With detumbling strategy, the control law is presented. Simulation results are appended. The results show that it is difficult to ensure long-term contact between the detumbling-robot and debris because of the contact elastic force without control force. Instead, the angular rate of debris would be detumbled to desired value after several times contact, and the energy which used up during detumbling is also in reasonable span. The tumbling debris could be detumbled by flexible brush with the strategy and control law stated above.