Both theoretical and experimental studies on the control of a free-flying robot manipulator for space application are presented. The goal of the studies is to develop a new control method for target capturing in a space micro-gravity environment, considering the dynamical interaction between the manipulator operation and the base vehicle motion. In the theoretical study, a generalized Jacobian matrix (GJM) concept of motion control and a guaranteed workspace (GWS) for path planning are investigated. In the experimental study, a laboratory model of a robot satellite supported on air bearings is developed; the model comprises a base satellite and a two-link manipulator arm. An on-line control scheme with vision feedback is developed for experimenting with capture operations, on the basis of the GJM and GWS. The manipulator can properly chase and capture both a standing target and a moving target in spite of the complex satellite/manipulator dynamical interaction.


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    Titel :

    Control of space free-flying robot


    Weitere Titelangaben:

    Projektuntersuchung eines frei fliegenden Industrieroboters für die Raumfahrt


    Beteiligte:
    Yoshida, K. (Autor:in) / Umetani, Y. (Autor:in)


    Erscheinungsdatum :

    1990


    Format / Umfang :

    6 Seiten, 7 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





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    Control of Free-Flying Space Robot Manipulator Systems

    R. H. Cannon / S. M. Rock / J. How | NTIS | 2000