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<p>This paper provides a comprehensive survey of contact dynamics and control methodologies for peripheral spacecraft docking systems, specifically focusing on those employing Stewart platforms. The Stewart platform, with its six degrees of freedom, offers precise control for aligning and stabilizing spacecraft during docking operations. This review highlights key areas such as the dynamic modeling of Stewart platforms on free-floating spacecraft, contact detection through computational geometry, and the application of various control strategies including force and impedance control. The paper also discusses the limitations of current docking systems and identifies avenues for future research, including advanced dynamic simulations, the development of robust contact detection algorithms, and adaptive control methods for diverse spacecraft docking scenarios.</p>

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Dynamics, Contact Model and Control Methodology for Peripheral Spacecraft Docking System: A Simulation-Based Survey

  • 期刊论文

  • 发表日期：

    2025年7月10日

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  • Saurabhkumar H. Patel,
  • Sourav Rakshit,
  • Shamrao Garur

摘要

This paper provides a comprehensive survey of contact dynamics and control methodologies for peripheral spacecraft docking systems, specifically focusing on those employing Stewart platforms. The Stewart platform, with its six degrees of freedom, offers precise control for aligning and stabilizing spacecraft during docking operations. This review highlights key areas such as the dynamic modeling of Stewart platforms on free-floating spacecraft, contact detection through computational geometry, and the application of various control strategies including force and impedance control. The paper also discusses the limitations of current docking systems and identifies avenues for future research, including advanced dynamic simulations, the development of robust contact detection algorithms, and adaptive control methods for diverse spacecraft docking scenarios.