Dynamics and control of multi-arm space robots during chase and capture operations

Papadopoulos, E; Moosavian, S

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Moosavian, S	en
dc.date.accessioned	2014-03-01T02:48:14Z
dc.date.available	2014-03-01T02:48:14Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33652
dc.subject	Control Algorithm	en
dc.subject	Dynamic Model	en
dc.subject	Motion Control	en
dc.subject	Space Robotics	en
dc.subject	Tracking Control	en
dc.title	Dynamics and control of multi-arm space robots during chase and capture operations	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.1994.407648	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.1994.407648	en
heal.publicationDate	1994	en
heal.abstract	Studies the motion control of a multi-arm free flying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed barycentric vectors. Using a general and a quasi-coordinate Lagrangian formulation, two dynamics models are derived. Control algorithms are developed that allow coordinated tracking control of the manipulators and the spacecraft. The performance	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.1994.407648	en