Inertia Parameter Identification of a Free-Flying Space Robot.

Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

manipulation control of a flexible space free flying robot using fuzzy tuning approach

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

On Control of Free - Flying Space Robot Manipulator Systems

Dynamics of Space Free-Flying Robots with Flexible Appendages

A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...

An Energy Balance Based Method for Parameter Identification of a Free-Flying Robot Grasping An Unknown Object

The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of grasping an object of unknown properties by a free-flyer space robot with limited actuation. The problem is to find the inertial parameters of the complete syste...