Whole-body motion control for capturing a tumbling target by a free-floating space robot

Ôki, T.; Nakanishi, Hiroki; Yoshida, Kazuya

doi:10.1109/iros.2007.4399591

Cited by 29 publications

(6 citation statements)

References 13 publications

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“…Distributed momentum control has been proposed [20][21][22][23] so that the spacecraft attitude reactions during the approach and postimpact phases are minimized. Several time-optimal control methods have been presented [24][25][26][27], considering either the constraints on the reaction wheel torques or the momentum it can store, along with the constraints on the grasping forces and torques.…”

Section: Introductionmentioning

confidence: 99%

Avoiding dynamic singularities in Cartesian motions of free-floating manipulators

Nanos

Papadopoulos

2015

IEEE Trans. Aerosp. Electron. Syst.

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Free-floating manipulators are subject to dynamic singularities that complicate their Cartesian motions and restrict their workspace. In this work, the Cartesian trajectory planning of free-floating manipulators is studied. A methodology is developed in which, for given end-effector trajectories, appropriate initial system configurations are found that result in singularity avoidance during end-effector motion. The method applies to both planar and spatial systems, with and without initial angular momentum, and to any desired end-effector position and attitude trajectories.

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Section: Introductionmentioning

confidence: 99%

Avoiding dynamic singularities in Cartesian motions of free-floating manipulators

Nanos

Papadopoulos

2015

IEEE Trans. Aerosp. Electron. Syst.

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“…The proposed conceptual design is based on adhesive capture technologies and passive robotic joints. The traditional approach [52,53,54] to identify the debris angular rotation axis, to align the service satellite with it and to find a structural feature suitable for grasping. In this scenario an extremely precise attitude and orbital control of the chaser vehicle is necessary in addition to the robotic arm that holds the debris.…”

Section: Debris Capture and Matingmentioning

confidence: 99%

Active space debris removal by a hybrid propulsion module

et al. 2013

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“…Hence, a control method which can realize the consecutive contact so that the target is not pushed away and the suppression of the undesirable base rotation is required. Such a strategy is discussed in [179]. In order to guarantee conservation of contact, impedance control is utilized and the Distributed Momentum Control (DMC) is used for zero base rotation.…”

Section: B Free-flying Casementioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Whole-body motion control for capturing a tumbling target by a free-floating space robot

Cited by 29 publications

References 13 publications

Avoiding dynamic singularities in Cartesian motions of free-floating manipulators

Avoiding dynamic singularities in Cartesian motions of free-floating manipulators

Active space debris removal by a hybrid propulsion module

A Review of Robotics Technologies for On-Orbit Services

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