Load control is one of the most important technologies for capturing and berthing free flying satellites by a space robot arm because free flying satellites have different motion rates. The performance of active compliance control techniques depend on the location of the force sensor and the arm's structural compliance. A compliance control technique for the robot arm's structural elasticity and a consideration for an end-effector appropriate for it are presented in this paper.


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    Title :

    Robot ARM System for Automatic Satellite Capture and Berthing


    Contributors:
    S. Nishida (author) / H. Toriu (author) / M. Hayashi (author) / T. Kubo (author) / M. Miyata (author)

    Publication date :

    1994


    Size :

    4 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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