Analysis of the Asteroid Sampling Process Performed by Free-Floating Space Robot

This paper provides a detailed analysis of the asteroid sampling process performed by free-floating space robot. Firstly, the inverse dynamics model and the direct dynamics model of free-floating space robot are established by the Newton-Euler method and the Lagrange method respectively. Secondly, the continuous contact dynamics model is established, and the calculation flow of the entire contact process of the space robot is given. Finally, taking the asteroid sampling task performed by a 3-degree-of-freedom free-floating space robot as an example, the detailed analysis of the contact process is carried out. The method described in this paper is of great significance to the design of sampling robot and the assessment of contact risk.