Whole-body motion control for capturing a tumbling target by a free-floating space robot

@article{Oki2007WholebodyMC,
  title={Whole-body motion control for capturing a tumbling target by a free-floating space robot},
  author={Tomohisa Oki and Hiroki Nakanishi and Kazuya Yoshida},
  journal={2007 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2007},
  pages={2256-2261}
}
This paper discusses a control strategy of a free- floating space robot for capturing a non-cooperative target. It is desirable that the base attitude deviation of the robot is minimized for accurate operation by a manipulator arm mounted on it, for communication with the earth, and the ideal contact with the target so that the target would not be pushed away, impedance control and Distributed Momentum Control are reasonable for the above two requirements. The proposed strategy includes both… CONTINUE READING

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