On on-orbit passive object handling by cooperating space robotic servicers

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dc.contributor.author Rekleitis, G en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:47:26Z
dc.date.available 2014-03-01T02:47:26Z
dc.date.issued 2011 en
dc.identifier.uri http://hdl.handle.net/123456789/33143
dc.subject Dynamic Optimization en
dc.subject Fuel Consumption en
dc.subject Limit Cycle en
dc.subject Space Robotics en
dc.subject System Dynamics en
dc.subject Trajectory Tracking en
dc.subject Unilateral Constraint en
dc.subject.other Contact points en
dc.subject.other Limit cycle en
dc.subject.other Manipulation strategy en
dc.subject.other Manipulation system en
dc.subject.other Manipulation techniques en
dc.subject.other Model-based controller en
dc.subject.other On-orbit en
dc.subject.other Optimization process en
dc.subject.other Passive objects en
dc.subject.other Planning strategies en
dc.subject.other Space robotics en
dc.subject.other System Dynamics en
dc.subject.other Trajectory tracking en
dc.subject.other Two layers en
dc.subject.other Unilateral constraints en
dc.subject.other Manipulators en
dc.subject.other Optimization en
dc.subject.other Orbits en
dc.subject.other Robotics en
dc.subject.other Intelligent robots en
dc.title On on-orbit passive object handling by cooperating space robotic servicers en
heal.type conferenceItem en
heal.identifier.primary 10.1109/IROS.2011.6048543 en
heal.identifier.secondary http://dx.doi.org/10.1109/IROS.2011.6048543 en
heal.identifier.secondary 6048543 en
heal.publicationDate 2011 en
heal.abstract Space exploitation will require efficient techniques for manipulating passive objects on-orbit. This work presents a manipulation technique that utilizes both on-off thrusters and manipulator proportional forces to handle passive objects on orbit, canceling the effect of limit cycles on the objects. The system dynamics including the unilateral constraints and the on-off thrusting are discussed. Using a two-layer optimization process, a planning strategy for the trajectory tracking motion of a passive object including optimal end-effector contact point selection, is developed. The manipulation strategy is illustrated using a 3D scenario. A model-based controller adapted to the special characteristics of the system is presented and its response is discussed. The performance of the proposed manipulation system is shown to be promising, while it reduces excessive thruster fuel consumption. © 2011 IEEE. en
heal.journalName IEEE International Conference on Intelligent Robots and Systems en
dc.identifier.doi 10.1109/IROS.2011.6048543 en
dc.identifier.spage 595 en
dc.identifier.epage 600 en

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