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 |
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