Free-flying robots in space: An overview of dynamics modeling, planning and control

Moosavian, SAA; Papadopoulos, E

dc.contributor.author	Moosavian, SAA	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:26:23Z
dc.date.available	2014-03-01T01:26:23Z
dc.date.issued	2007	en
dc.identifier.issn	0263-5747	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18047
dc.subject	Control algorithms	en
dc.subject	Dynamics modeling	en
dc.subject	Force control	en
dc.subject	Impedance control	en
dc.subject	Space robotics	en
dc.subject.classification	Robotics	en
dc.subject.other	Dynamic programming	en
dc.subject.other	Force control	en
dc.subject.other	Micromanipulators	en
dc.subject.other	Motion control	en
dc.subject.other	Spacecraft	en
dc.subject.other	Dynamics modeling	en
dc.subject.other	Impedance control	en
dc.subject.other	Mechanical manipulators	en
dc.subject.other	Space robotics	en
dc.subject.other	Robotics	en
dc.title	Free-flying robots in space: An overview of dynamics modeling, planning and control	en
heal.type	journalArticle	en
heal.identifier.primary	10.1017/S0263574707003438	en
heal.identifier.secondary	http://dx.doi.org/10.1017/S0263574707003438	en
heal.language	English	en
heal.publicationDate	2007	en
heal.abstract	Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed. © 2007 Cambridge University Press.	en
heal.publisher	CAMBRIDGE UNIV PRESS	en
heal.journalName	Robotica	en
dc.identifier.doi	10.1017/S0263574707003438	en
dc.identifier.isi	ISI:000250929000004	en
dc.identifier.volume	25	en
dc.identifier.issue	5	en
dc.identifier.spage	537	en
dc.identifier.epage	547	en