Dynamics and Control for Satellite Capture Robot based on the Impedance Theory

接触是卫星捕获中的一个关键阶段，因为这涉及到接触会将目标和机器人推开的风险。在这项研究中，基于接触动力学分析，开发了有效的接触控制方法，以防止目标被推并保持接触，直到捕获完成。

Contact is a critical phase in satellite capture because it involves the risk that the contact will push the target and robot away from each other. In this study, effective contact control methods based on the contact dynamics analyses were developed to prevent the target from being pushed and to maintain contact until the capture completed.