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Free-flying robots in space: An overview of dynamics modeling, planning and control

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National Technical University of Athens   

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Free-flying robots in space: An overview of dynamics modeling, planning and control (EN)
Moosavian, SAA (EN)
Papadopoulos, E (EN)
journalArticle (EN)
2014-03-01T01:26:23Z
2007 (EN)
Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed. © 2007 Cambridge University Press. (EN)
Robotics (EN)
Space robotics (EN)
Micromanipulators (EN)
Impedance control (EN)
Control algorithms (EN)
Spacecraft (EN)
Dynamics modeling (EN)
Mechanical manipulators (EN)
Dynamic programming (EN)
Force control (EN)
Motion control (EN)
Robotics (EN)
Robotica (EN)
English
CAMBRIDGE UNIV PRESS (EN)
National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
Κεντρική Βιβλιοθήκη Ε.Μ.Π.
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