Journal ArticleDOI
Reactionless Maneuvering of a Space Robot in Precapture Phase
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This article is published in Journal of Guidance Control and Dynamics.The article was published on 2016-07-15. It has received 40 citations till now.read more
Citations
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Journal ArticleDOI
Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization
TL;DR: This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode and shows the effectiveness of the proposed method.
Journal ArticleDOI
Task-Constrained Trajectory Planning of Free-Floating Space-Robotic Systems Using Convex Optimization
Gaurav Misra,Xiaoli Bai +1 more
TL;DR: In this article, the authors address the trajectory planning problem for a free-floating space-robotic system for which there are no actuations on the base spacecraft, and the mission considered is that the end effect...
Journal ArticleDOI
Optimal Path Planning for Free-Flying Space Manipulators via Sequential Convex Programming
Gaurav Misra,Xiaoli Bai +1 more
Journal ArticleDOI
Combined Nonlinear H∞ Controller for a Controlled-Floating Space Robot
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High-Precision Trajectory Tracking Control for Space Manipulator With Neutral Uncertainty and Deadzone Nonlinearity
TL;DR: This brief investigates the high-precision trajectory tracking control of space manipulator after capturing an unknown target by incorporating a novel deadzone compensation control effort and proposing a composite controller to attenuate these uncertainties and compensate the deadzone nonlinearity.
References
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Journal Article
Rapidly-exploring random trees : a new tool for path planning
TL;DR: The Rapidly-exploring Random Tree (RRT) as discussed by the authors is a data structure designed for path planning problems with high degrees of freedom and non-holonomic constraints, including dynamics.
Journal ArticleDOI
Randomized kinodynamic planning
TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Journal ArticleDOI
Resolved motion rate control of space manipulators with generalized Jacobian matrix
Yoji Umetani,Kazuya Yoshida +1 more
TL;DR: The authors develop a control method for space manipulators based on the resolved motion control concept that is widely applicable in solving not only free-flying manipulation problems but also attitude-control problems.
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Minimizing spacecraft attitude disturbances in space manipulator systems
M.A. Torres,Steven Dubowsky +1 more