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Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation | IEEE Journals & Magazine | IEEE Xplore

Hybrid Control of Space Robot in On-Orbit Screw-Driving Operation


Abstract:

Controlled force-torque exertion by a small-scaled free-flying space robot will be potentially required for future on-orbit assembly missions. This paper presents a hybri...Show More

Abstract:

Controlled force-torque exertion by a small-scaled free-flying space robot will be potentially required for future on-orbit assembly missions. This paper presents a hybrid controller to achieve the desired end-effector motion and contact forces required for driving a screw into a floating target. Attitude of the spacecraft base is controlled simultaneously. Postcapture control to stabilize the entire system is also addressed in this paper. Simulation results have demonstrated the effectiveness of the proposed control laws.
Published in: IEEE Transactions on Aerospace and Electronic Systems ( Volume: 54, Issue: 3, June 2018)
Page(s): 1253 - 1264
Date of Publication: 11 December 2017

ISSN Information:


References

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