# Dynamic Synthesis of Three -- Point Circle Peripheral Docking Technology Pose
## 1 Introduction  
In the era of intelligent manufacturing development, research on space docking technology is expanding into many fields, including intelligent transportation, aviation, offshore operation, and intelligent machinery. Overall reconstruction of space docking, which is accomplished by location, capture, and rigid connection, is the precondition required to achieve space assembly and space expansion [1; 2; 3; 4; 5]. Taking the reconstructed automobile as the research object, the docking process is divided into four steps: (1) the target vehicle's positioning is observed, pose parameters are estimated, and capture path is planned; (2) the capture phase is prepared when the active vehicle is close to the target vehicle; (3) the target vehicle is brought into contact with the active vehicle to accomplish initial collision; (4) after capture energy consumption and control of vibration stability are accomplished, docking is achieved [6; 7; 8; 9; 10]. In recent years, new docking technology and mechanisms have been jointly studied by transportation research institutes and intelligent robot research institutions. Autonomous teleoperation of dual -- arm robots was designed by [PERSON] of Milan Polytechnic University. Unobstructed servo was accomplished during docking [11]. A dynamic model of a colliding body was established by means of the second kind of Lagrangian method and the Newton-Euler method by [PERSON] of Fuzhou University. An augmented robust control algorithm was designed to stabilize the unstable combinatorial system after a collision [12]. A dynamic model of attitude coupling problems for structures composed of spatial rigid rods and springs was established by [PERSON] of Northwestern Polytechnical University. The coupling dynamic effects of the simplified model were analyzed using the symplectic geometry method, which aims to provide real\(-\)time dynamic response results for feedback control of super large space structures [13]. An electro\(-\)permanent magnetic docking/separation mechanism was designed by [PERSON] of the Chinese Academy of Sciences that integrated the electromagnetic and permanent magnetic characteristics, which solved the problems of small coupling force and high energy consumption in the electromagnetic docking mode [14]. A flexible electromagnetic valve docking mechanism was designed by [PERSON] et al. in Jerusalem, Israel. The docking system experiment was established by the traction of microgravity test [15]. The frontend robotics enabling near\(-\)term demonstration (FREND) dibby space system, which is used for target acquisition and refurbishment, was researched by [PERSON] et al. in Reston, VA, USA [16]. A small docking mechanism adopting a semi\(-\)androgynous deformation geometry structure was researched by [PERSON] et al. of the University of Padua. A simulation experiment showed that the port can realize \(5^{\circ}\) or 15 mm relative dislocation docking [17]. An optimization model was established for the kinematic performance and force transmission performance of the integrated docking mechanism by [PERSON] of the Shanghai Key Laboratory of Space Vehicle Organization. This optimization model provides a reference for the design and technical application of the weak impact docking mechanism [18]. The 3 UPS\(-\)PS (U\(-\)universal joint pair; P\(-\)prismatic pair; S\(-\)spherical hinge) parallel mechanism was researched to improve the weak impact space docking experiment by [PERSON] of the Harbin Institute of Technology, and it was shown to solve the problems related to force signal filtering and pose measurement of the docking ring [19]. A dynamic synthesis correction method of deviation was proposed in the application scenario of docking assembly for the aircraft wing\(-\)fuselage based on a laser tracker and machine vision by [PERSON] of Nanchang Hangkong University, and it effectively improved the quality of butt joint assembly [20].