A recently developed control system for capturing free-flying payloads with flexible manipulators is discussed. Three essential points in this control system are, calculating optimal path, using a vision sensor for an external sensor, and controlling active vibration. Experimental results are shown using a planar flexible manipulator.


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    Title :

    Capture of Free-Flying Payloads with Flexible Space Manipulators


    Contributors:
    T. Komatsu (author) / M. Uenohara (author) / S. Iikura (author) / H. Miura (author) / I. Shimoyama (author)

    Publication date :

    1989


    Size :

    10 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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