2011
DOI: 10.4236/ica.2011.21002
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Unified Modeling Approach of Kinematics, Dynamics and Control of a Free-Flying Space Robot Interacting with a Target Satellite

Abstract: In this paper a unified control-oriented modeling approach is proposed to deal with the kinematics, linear and angular momentum, contact constraints and dynamics of a free-flying space robot interacting with a target satellite. This developed approach combines the dynamics of both systems in one structure along with holonomic and nonholonomic constraints in a single framework. Furthermore, this modeling allows considering the generalized contact forces between the space robot end-effecter and the target satell… Show more

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Cited by 13 publications
(9 citation statements)
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“…Since the formulation of the dynamic coupling effect of a space manipulator with one end fixed on a space station is commonly established [21][22][23], this paper only focuses on the approach to model the dynamic coupling effects under wheels locomotion. A general model for a space robotic system is first described.…”
Section: Modeling Of a Space Roboticmentioning
confidence: 99%
“…Since the formulation of the dynamic coupling effect of a space manipulator with one end fixed on a space station is commonly established [21][22][23], this paper only focuses on the approach to model the dynamic coupling effects under wheels locomotion. A general model for a space robotic system is first described.…”
Section: Modeling Of a Space Roboticmentioning
confidence: 99%
“…In litterature two control modes of the spacecraft-manipulator are commonly considered: the free-flying mode where manipulator's joints and spacecraft's attitude and position are actively controlled [3]; and the free-floating mode where only manipulator's joints are controlled [4]. More recently Wilde and al.…”
Section: Introductionmentioning
confidence: 99%
“…As one of the most important equipment on the space station, the space manipulator can achieve a variety of on-orbit servicing missions such as mounting the components, repairing the equipment, assisting the astronauts in space walking and docking, and refueling for spacecrafts. [1][2][3] To guarantee the safety and reliability on orbit, the space manipulator should be analyzed and should pass all the verification tests in a zero-g simulation system on ground. [4][5][6] The simulation system should simulate the space environment and allow movements of the manipulator in a safety condition.…”
Section: Introductionmentioning
confidence: 99%