2018
Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot
Roberto Lampariello, Hrishik Mishra, Nassir W. Oumer, Phillip Schmidt, Marco De Stefano, Alin Albu-Schäffer
RA-L 2018
In this letter, a novel method is presented for grasping a partially cooperative tumbling satellite with a free-floating robot. A reference trajectory, provided by an offline motion planner and adapted online to account for modeling uncertainties, is tracked with a visual servo for the approach phas