Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator
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DOI: 10.1007/s12555-015-0455-7
Abstract: During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for… read more here.
Keywords: space; redundant space; multiple moving; manipulator ... See more keywords
A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.06.015
Abstract: Abstract A hyper-redundant space manipulator has extreme flexibility and is suitable to work in highly cluttered or multi-obstacles environment. However, its inverse kinematics is very challenging due to a large number of degrees of freedom… read more here.
Keywords: inverse kinematics; redundant space; kinematics; manipulator ... See more keywords
Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.09.025
Abstract: Abstract The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space… read more here.
Keywords: rotational satellite; redundant space; control; space manipulator ... See more keywords