Dynamics and control of space free-flyers with multiple manipulators

Papadopoulos, E; Moosavian, S

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Moosavian, S	en
dc.date.accessioned	2014-03-01T01:42:21Z
dc.date.available	2014-03-01T01:42:21Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/23786
dc.subject	Control Algorithm	en
dc.subject	Equation of Motion	en
dc.subject	Model Based Control	en
dc.subject	Model Uncertainty	en
dc.subject	Motion Control	en
dc.subject	Space Robotics	en
dc.subject	Tracking Control	en
dc.title	Dynamics and control of space free-flyers with multiple manipulators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1163/156855395X00328	en
heal.identifier.secondary	http://dx.doi.org/10.1163/156855395X00328	en
heal.publicationDate	1994	en
heal.abstract	This paper studies the motion control of a multiple manipulator free-flying space robot chasing a passive object in near proximity. Free-flyer kinematics are developed using a minimum set of body- fixed barycentric vectors. Using a general and a quasi-coordinate Lagrangian formulation, equations of motion for model-based controllers are derived. Two model-based and one transposed Jacobian control algorithms are developed that	en
heal.journalName	Advanced Robotics	en
dc.identifier.doi	10.1163/156855395X00328	en