5 accepted papers
This paper presents a coordinated compliant control strategy for space manipulator systems to enable safe and robust target capture during on-orbit servicing and assembly missions. The proposed controller operates in two distinct phases: free-space motion and contact interaction. In the free-space p…
To accurately accomplish on-orbit tasks using Space Manipulator Systems (SMS), advanced model-based controllers, dependent on the knowledge of SMS parameters, can be employed. However, these parameters may change on orbit for several reasons. Also, during an SMS task, excitation of flexible appendag…
Space manipulator systems in orbit are subject to link flexibilities since they are designed to be lightweight and long reaching. Often, their joints are driven by harmonic gear-motor units, which introduce joint flexibility. Both of these types of flexibility may cause structural vibrations. To imp…
The parameter estimation of space manipulator systems on orbit is studied, whose manipulators are subject to joint flexibilities. To improve path planning and tracking capabilities, advanced control strategies that benefit from the knowledge of system parameters are required. These parameters includ…
To accomplish tasks with high accuracy, advanced control strategies that benefit from the knowledge of system parameters are required. However, during operation some of them may change, or be unknown. In this paper, a novel parameter estimation method is proposed, which is based on the conservation…