Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. First a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Free-flying robots in space: An overview of dynamics modeling, planning and control


    Weitere Titelangaben:

    Freifliegende Roboter im Weltraum: Ein Überblick über die Modellierung der Dynamik, Bahnplanung und Steuerung


    Beteiligte:

    Erschienen in:

    Robotica ; 25 , 5 ; 537-547


    Erscheinungsdatum :

    2007


    Format / Umfang :

    11 Seiten, 122 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch






    Multiple Impedance Control for Space Free-Flying Robots

    S. Ali A. Moosavian / Rambod Rastegari / Evangelos Papadopoulos | AIAA | 2005


    Multiple Impedance Control for Space Free-Flying Robots

    Moosavian, S.A.A. | Online Contents | 2005


    Regulated sliding mode control of space free-flying robots

    Moosavian, S.A.A. / Homaeinejad, M.R. | Tema Archiv | 2006