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

Rekleitis, G; Papadopoulos, E

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	https://dspace.lib.ntua.gr/xmlui/handle/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	6048543	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2011.6048543	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