Suchergebnisse - dynamics and control of space robots

Robotic Manipulation and Capture in Space: A Survey von Papadopoulos, Evangelos, Aghili, Farhad, Ma, Ou, Lampariello, Roberto

“… Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e …”
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Tethered Space Robot - Dynamics, Measurement, and Control von Huang, Panfeng, Meng, Zhongjie, Guo, Jian, Zhang, Fan

“… This book discusses a novel tethered space robot (TSR) system that contains the space platform, flexible tether and gripper …”
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Dynamics and control of space robot considering joint friction von Liu, Xiao-Feng, Li, Hai-Quan, Chen, Yi-Jun, Cai, Guo-Ping

“… In this paper, we have conducted comprehensive study in detail on dynamics and control of a space robot with joint friction …”
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Prioritized motion–force control of constrained fully-actuated robots: “Task Space Inverse Dynamics” von Del Prete, Andrea, Nori, Francesco, Metta, Giorgio, Natale, Lorenzo

“… Other frameworks are optimal, but they tackle the control problem at kinematic level, hence they neglect the robot dynamics and they do not allow for force control …”
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Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints von Liu, Liaoxue, Gu, Xiutao, Wang, Lu, Guo, Jian, Guo, Yu

“… To achieve predefined‐time trajectory tracking control of a flexible‐joint space robot(FJSR) with actuator constraints, a nonsingular predefined …”
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Contact dynamics and control of a space robot capturing a tumbling object von Wu, Shuang, Mou, Fangli, Liu, Qian, Cheng, Jing

“… In this paper, the contact dynamics modeling and control problem for capturing a fast tumbling target object by a space robot are investigated …”
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Dynamics modeling and control of a 6-DOF space robot with flexible panels for capturing a free floating target von Yu, Zhang-wei, Liu, Xiao-feng, Cai, Guo-ping

“… However, most existing researches about dynamics and control of space robot concern planar problem, and the effect of flexible panel on capturing dynamics of the system is not considered …”
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Contact Dynamics and Control for Tethered Space Net Robot von Zhao, Yakun, Huang, Panfeng, Zhang, Fan, Meng, Zhongjie

“… Maneuverable tethered space net robot (TSNR) is promising for active debris removal due to its flexibility and controllability …”
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Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3) von Wang, Yong, Gong, Kejie, Duan, Yurui, He, Boyong, Ma, Hong

“… Firstly, the dynamics equations for a space robot in the joint space and workspace are established separately in the framework of Lie group SE(3 …”
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Collision avoidance analysis of human–robot physical interaction based on null-space impedance control of a dynamic reference arm plane von Sun, Qing, Guo, Shuai, Fei, Sixian

“… of the redundant manipulator. A null-space impedance control method based on a dynamic reference arm plane is proposed to realize collision avoidance during human …”
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Dynamics and Noncollocated Model‐Free Position Control for a Space Robot with Multi‐Link Flexible Manipulators von Yang, Xinxin, Ge, Shuzhi Sam, Liu, Jinkun

“… In this paper, both the dynamics and noncollocated model‐free position control (NMPC) for a space robot with multi …”
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Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties von Huang, Panfeng, Wang, Dongke, Meng, Zhongjie, Zhang, Fan, Liu, Zhengxiong

“… In this paper, the stabilization control of TSR during target capturing is studied. The space tether is described by the lumped mass model, and the impact dynamic model …”
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Dynamics and control for in-space assembly robots with large translational and rotational maneuvers von Zhang, Xianliang, Zhu, Weibing, Wu, Xiande, Song, Ting, Xie, Yaen, Zhao, Han

“… In this paper, a dynamics modeling method for in-space assembly (ISA) robot with large translational and rotational maneuvers was proposed …”
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Anti-deadzone adaptive fuzzy dynamic surface control for planar space robot with elastic base and flexible links von Huang, Xiao-qin, Huang, Deng-feng

“… In order to combat the impact of the dead zone and reduce vibration of the space robot's elastic base and flexible links, the trajectory tracking and vibration suppression of a multi-flexible-link …”
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Capture dynamics and control of tethered space net robot for space debris capturing in unideal capture case von Zhao, Yakun, Zhang, Fan, Huang, Panfeng

“… •The contact dynamics of tethered space net robot in an unideal capture case are analyzed.•An integral version of Super-Twisting Adaptive Sliding Mode Control scheme is designed for tethered space net robot to complete the net closing action …”
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Extended Operational Space Kinematics, Dynamics, and Control of Redundant Serial Robots von Haug, Edward J., De Sapio, Vincent, Peidro, Adrian

“… A recently developed differential geometric representation of redundant serial robot kinematics is employed to create a new extended operational space dynamics and control formulation that explicitly …”
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Coordinated Dynamic Control in the Task Space for Redundantly Actuated Cable-Driven Parallel Robots von Zhang, Bin, Shang, Weiwei, Cong, Shuang, Li, Zhijun

“… Therefore, the coordination effect in the task space (TS) of redundantly actuated CDPRs is addressed in this article, and a scheme of the coordinated dynamic control in the TS (CDCT …”
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Research on coupling dynamics modeling and composite control of the multi-flexible space robot von Zhang, Fuli, Yuan, Zhaohui, Zhang, Fuzhi

“… Therefore, to address the issue of stable trajectory tracking for multi-flexible space robots, a dynamics model of space robots with multiple flexibilities is established, and a composite controller …”
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Adaptive Control Strategy for Space Robot Target Manipulation Based on Decoupled Dynamic Modeling von Yu, Jin, Jiang, Hankun, Wang, Xiaoyi, Jiang, Bingrun, Zeru, Rediet Tesfaye, Chai, Senchun

“… The dynamic coupling between the target object and the robot often introduces complexity into the control design …”
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Dynamics and configuration control of the Tethered Space Net Robot under a collision with high-speed debris von Zhu, Weiliang, Pang, Zhaojun, Si, Jiyue, Gao, Guangfa

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