Pre-impact configuration planning for capture object of space manipulator

A concept ldquostraight-arm capturerdquo and a method of configuration planning are proposed, which are based on the momentum conservation of space manipulator. The configuration satisfies the proposed method can reduce the coupling angular momentum, joint angular velocity and the burden of compound control, then avoids the limit of joint velocity and torque when control the compound. Finally the simulation results show that the effectiveness of the method.