Towards passive object on-orbit manipulation by cooperating free-flying robots

Rekleitis, G; Papadopoulos, E

dc.contributor.author	Rekleitis, G	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:47:07Z
dc.date.available	2014-03-01T02:47:07Z
dc.date.issued	2010	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33005
dc.subject	lyapunov stability	en
dc.subject	System Dynamics	en
dc.subject	Unilateral Constraint	en
dc.subject.other	Free-flying robots	en
dc.subject.other	Lyapunov stability	en
dc.subject.other	On orbit	en
dc.subject.other	One-dimensional model	en
dc.subject.other	Passive objects	en
dc.subject.other	Stability and robustness	en
dc.subject.other	System Dynamics	en
dc.subject.other	Unilateral constraints	en
dc.subject.other	Backstepping	en
dc.subject.other	Robots	en
dc.subject.other	Robotics	en
dc.title	Towards passive object on-orbit manipulation by cooperating free-flying robots	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2010.5509730	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2010.5509730	en
heal.identifier.secondary	5509730	en
heal.publicationDate	2010	en
heal.abstract	Space exploitation will require efficient techniques for manipulating passive objects on orbit. This work presents a manipulation concept that utilizes both the on-off thrusters and manipulator proportional forces to manipulate passive objects on orbit more efficiently. The system dynamics arising from the unilateral constraints and the on-off thrusting are discussed. The manipulation concept is illustrated using a simplified one-dimensional model. A novel controller based on backstepping and Lyapunov stability is presented and its performance, stability and robustness are discussed. The performance of this system is compared to that of a standard using on-off thrusters only, and is shown to use less fuel. ©2010 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2010.5509730	en
dc.identifier.spage	2247	en
dc.identifier.epage	2252	en