A scheme for robust trajectory control of space robots

@article{Pathak2008ASF,
  title={A scheme for robust trajectory control of space robots},
  author={Pushparaj Mani Pathak and R. Prasanth Kumar and Amalendu Mukherjee and Anirvan Dasgupta},
  journal={Simulation Modelling Practice and Theory},
  year={2008},
  volume={16},
  pages={1337-1349}
}
Abstract This paper presents a scheme for robust trajectory control of free-floating space robots. The idea is based on the overwhelming robust trajectory control of a ground robot on a flexible foundation and robust foundation disturbance compensation presented elsewhere. No external jets/thrusters are required or used in the scheme. An example of a three-link robot mounted on a free-floating space platform is considered for demonstrating the efficacy of the control scheme. Bond graph… CONTINUE READING

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