Design and development of an earth based experimental setup for testing algorithms on space robots
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Cites background from "Design and development of an earth ..."
...Moreover, an inaccurate estimate of the inertial parameters adversely affects the motion planning and control [9]....
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References
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"Design and development of an earth ..." refers methods in this paper
...The end-effector motion can be mapped to the joint motion while accounting for translations and rotations of the base using the Generalised Jacobian Matrix (GJM), given by [18]...
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322 citations
"Design and development of an earth ..." refers background in this paper
...Magnetic suspension systems offer a smaller range of motion than air bearings [10], making air bearings the best choice among the two....
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320 citations
"Design and development of an earth ..." refers background in this paper
...Robots in space can be used to perform several operations such as debris removal, refueling, inspection and other onorbit services [1] [2] [3]....
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202 citations
"Design and development of an earth ..." refers background in this paper
...Robots in space can be used to perform several operations such as debris removal, refueling, inspection and other onorbit services [1] [2] [3]....
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"Design and development of an earth ..." refers background or methods in this paper
...For an n-Degrees-Of-Freedom (n-DOF) robotic system mounted on a floating-base, linear and angular momenta (p and l respectively) are given by [6] [ p l ] = Ibtb + Ibmθ̇ + [ 0 r0 × p ]...
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...It is necessary to have methods and algorithms that take this coupling into consideration, especially for robots such as Dextre [4] and ETS-VII [5] [6] where it is significant....
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...Several studies on reactionless manipulation [6], dynamic singularity avoidance [7] and visual servoing [8] have been performed for space robots in the past....
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