Some important dynamics and control problems unique to space robotic systems are discussed. Particular attention is paid to free-flying and free-floating space robots that might be used for such tasks as space station repair and construction. Advances in solving these problems are briefly reviewed. Three promising methods for planning and controlling the motion of space robotic systems are presented. It is suggested that a thorough understanding of the fundamental dynamics of these systems will result in effective solutions to their control problems.
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
Kinematik, Dynamik und Regelung von im Weltraum frei fliegenden und schwebenden Robotersystemen
IEEE Transactions on Robotics and Automation ; 9 , 5 ; 531-543
1993
13 Seiten, 60 Quellen
Article (Journal)
English
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