BookDOI
Space Robotics: Dynamics and Control
Yangsheng Xu,Darrell K. Root +1 more
TLDR
In this article, Xu et al. described the dynamics of the virtual manipulator of a Free-Floating Space Robot (FLSRS) and demonstrated its ability to control the trajectory of the FLSRS.Abstract:
Preface. 1. Kinematic Dynamic Properties of an Elbow Manipulator Mounted on a Satellite R.E. Lindberg, R.W. Longman, M.F. Zedd. 2. The Kinetics and Workspace of a Satellite-Mounted Robot R.W. Longman. 3. On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning Z. Vafa, S. Dubowsky. 4. Dynamic Singularities in Free-Floating Space Manipulators E. Papadopoulos, S. Dubowsky. 5. Nonholonomic Motion Planning of Free-Flying Space Robots via a Bi-Directional Approach Y. Nakamura, R. Mukherjee. 6. Attitude Control of Space Platform/Manipulator System Using Internal Motion C. Fernandez, L. Gurvits, Zexiang Li. 7. Control of Space Manipulators with Generalized Jacobian Matrix K. Yoshida, Y. Umetani. 8. Sensory Feedback Control for Space Manipulators Y. Masutani, F. Miyazaki. 9. Adaptive Control of Space Robot System with an Attitude Control Base Yangsheng Xu, Heung-Yeung Shum, Ju-Jang Lee, T. Kanade. 10. Experiments in Autonomous Navigation and Control of a Multi-Manipulator, Free-Flying Space Robot M.A. Ulman, R.H. Cannon, Jr. Index.read more
Citations
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Journal ArticleDOI
A review of space robotics technologies for on-orbit servicing
TL;DR: A literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions is provided in this article.
Journal ArticleDOI
A Steady-Hand Robotic System for Microsurgical Augmentation
Russell H. Taylor,Pat Jensen,Louis L. Whitcomb,Aaron Barnes,Rajesh Kumar,Dan Stoianovici,Puneet Gupta,Zheng Xian Wang,Eugene deJuan,Louis R. Kavoussi +9 more
TL;DR: The goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of hand-held tools for tasks characterized by compliant or semi-rigid contacts with the environment.
Journal ArticleDOI
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
TL;DR: It is suggested that a thorough understanding of the fundamental dynamics of these systems will result in effective solutions to their control problems and three promising methods for planning and controlling the motion of space robotic systems are presented.
Singular perturbations and time scales in control theory and applications: An overview
TL;DR: This paper presents an overview of singular perturbations and time scales (SPaTS) in control theory and applications during the period 1984-2001 and is not intended to be an exhaustive survey on the topic.
Book ChapterDOI
A Steady-Hand Robotic System for Microsurgical Augmentation
Russell H. Taylor,Patrick S. Jensen,Louis L. Whitcomb,Aaron Barnes,Rajesh Kumar,Dan Stoianovici,Puneet Gupta,ZhengXian Wang,Eugene de Juan,Louis R. Kavoussi +9 more
TL;DR: The goal is to develop a manipulation system with the precision and sensitivity of a machine, but with the manipulative transparency and immediacy of handheld tools for tasks characterized by compliant or semi-rigid contacts with the environment.
Related Papers (5)
Resolved motion rate control of space manipulators with generalized Jacobian matrix
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The kinematics and dynamics of space manipulators: the virtual manipulator approach
Z. Vafa,Steven Dubowsky +1 more