Unified Control Method of Free-Flying Robot in Maneuvering to Capture a Floating Object.

Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

manipulation control of a flexible space free flying robot using fuzzy tuning approach

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

Unified Modeling Approach of Kinematics, Dynamics and Control of a Free-Flying Space Robot Interacting with a Target Satellite

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...

On Control of Free - Flying Space Robot Manipulator Systems

Free-Flying Robot Tested on Parabolic Flights: Kinematic Control

During servicing operations, free-flying robots equipped with robotic arms are required to operate without disturbing the nearby environment through unwanted base oscillations. We present underlying theory, kinematic control software, and experimental results of a three-dimensional free-flying robot prototype able to follow a given trajectory with its end-effector while base movements are minim...