Space exploration and exploitation require enhancing of the human and robotic infrastructure on orbitand beyond. To this end, tasks like satellite servicing, space debris removal and construction of largeassemblies on Earth’s or other planetary orbits will be of critical importance in the near future. Thus,many space agencies such as NASA, ESA and JAXA have already incorporated OOS activities in theirroadmaps. Tο achieve these goals, prior extensive analysis of any OOS mission is required. Animportant part of such missions is reaching and capturing/ docking a Target (satellite or debris).Capturing and docking to the Target by a space robotic system (Chaser), consisting of a non-fixedsatellite base and of one or more manipulators mounted on it, is an especially demanding task, due tothe dynamic coupling between them. Additionally, these procedures are inevitably associated withimpact forces as these bodies come into contact. The challenges are higher when the robotic systemand the Target have comparable masses. In the case of passive docking, known as impact docking,these impact forces are also part of the procedure. Unsuccessful impacts may separate the servicerfrom the target, or damage critical subsystems, therefore the study of the behaviour of the participatingsystems under impact is vital. For all the above reasons, some of the aspects which need thoroughexamination during impacts in free-fall environment include: (a) adequate modelling of the procedure,(b) effects of mass and compliance parameters, (c) design and control of an effective approach of theChaser to the Target.In this work, an analysis of the modelling of impacts of two bodies in space is presented. Limitations ofcurrent viscoelastic models are described, and a novel viscoplastic model is developed which showsvery good correlation with experimental results found in the literature. Interestingly the generalization ofthis model to impacts that occur in terrestrial applications shows that this model has high potential ineveryday robotic ...


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