Abstract:Manipulators mounted on small satellites will be used to perform on-orbit servicing, removal of space debris, and assembly of large orbital structures. During such operations, the manipulator must avoid collisions with the target object or the elements of the assembled structure. Planning of the manipulator trajectory is one of the major challenges for the proposed missions because the motion of the manipulator influences the position and orientation of the satellite. Thus, the dynamic equations of motion must… Show more
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