Virtual-base modeling and coordinated control of a dual-arm space robot for target capturing and manipulation
Sign Up to like & getrecommendations! Published in 2018 at "Multibody System Dynamics"
DOI: 10.1007/s11044-018-09647-z
Abstract: A dual-arm space robotic system has large potential in on-orbit servicing missions, such as satellite repairing, large space structure construction and space debris removal. However, there exist multiple dynamic couplings between the base, the manipulators… read more here.
Keywords: space; control; base; dual arm ... See more keywords
Robust coordinated control of a dual-arm space robot
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.06.009
Abstract: Abstract Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the… read more here.
Keywords: system; space; space robot; dual arm ... See more keywords
Multi-objective configuration optimization for coordinated capture of dual-arm space robot
Sign Up to like & getrecommendations! Published in 2020 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2019.11.002
Abstract: Abstract Dual-arm space robot is a promising autonomous system to remove the increasing space debris actively. Due to its limited on-orbit energy, dual-arm space robot should approach and capture the target with minimum time and… read more here.
Keywords: space; space robot; optimization; dual arm ... See more keywords
Coordinated control of a dual-arm space robot to approach and synchronise with the motion of a spinning target in 3D space
Sign Up to like & getrecommendations! Published in 2020 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2020.02.028
Abstract: Abstract The non-cooperative objects in space such as space debris and spinning defunct satellites have attracted significant attention because of the rapid development of space exploration. To approach and capture the spinning targets in 3D… read more here.
Keywords: space robot; arm space; space; dual arm ... See more keywords
Finite-time adaptive control for the dual-arm space robots with uncertain kinematics, dynamics and deadzone nonlinearities
Sign Up to like & getrecommendations! Published in 2021 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/0954406221993839
Abstract: Dual-arm space robots are capable of load transporting and coordinated manipulation for on-orbit servicing. However, achieving the accurate trajectory tracking performance is a big challenge for dual-arm robots, especially when mechanical system uncertainties exist. This… read more here.
Keywords: arm; kinematics; deadzone; dual arm ... See more keywords