Analysis on Impact Motion of Space Robot in the Object Capturing Process

An impact motion analysis algorithm is presented aiming at impact of space robot in the process of object capturing.Based on kinematic and dynamic model of space robot,impact dynamic model is built by using the impulse principle of the collision process.For a specific collision model,collision detection between the space robot and the object is achieved by analytic geometry and the post-collision motion analysis algorithm is designed.Finally,the correctness and applicability of the algorithm are manifested by simulation and experiment.