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


    Publication date :

    1989-01-31


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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