ABSTRACT In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows consid-ering the generalized contact forces between the space robot end-effecter and the target satellite as internal forces rather than external forces. As a result of this approach, linear and angular momentum will form holonomic and nonholonomic constraints, respectively. Meanwhile, restricting the motion of the space robot end-effector on the surface of the target satellite will impose geometric constraints. The proposed momentum of the combined system under consideration is a generalization of the momentum model of a free-flying space robot. Based on this unified model, three reduced models are developed. The first reduced dynamics can be considered as a generalization of a free-flying robot without contact with a target satellite. In this re-duced model it is found that the Jacobian and inertia matrices can be considered as an extension of those of a free-flying space robot. Since control of the base attitude rather than its translation is preferred in certain cases, a second reduced model is obtained by eliminating the base linear motion dynamics. For the purpose of the controller development, a third reduced-order dynamical model is then obtained by finding a common solution of all constraints using the concept of orthogonal projection matrices. The objective of this approach is to design a controller to track motion trajectory while regulating the force interaction between the space robot and the target satellite. Many space missions can benefit from such a modeling system, for example, autonomous docking of satellites, rescuing satellites, and satellite servicing, where it is vital to limit the con-tact force during the robotic operation. Moreover, Inverse dynamics and adaptive inverse dynamics control-lers are designed to achieve the control objectives. Both controllers are found to be effective to meet the specifications and to overcome the un-actuation of the target satellite. Finally, simulation is demonstrated by to verify the analytical results.
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