5 accepted papers
During maneuvers of a space manipulator system (SMS), thruster fuel in its spacecraft (S/C) results in sloshing effects which impact its dynamics and performance. In this work, sloshing effects are modeled by a 3D mass-spring-damper. A novel system identification scheme is developed, which identifie
To control a free-floating robotic system with uncertain parameters in OOS tasks with high accuracy, a fast parameter identification method, previously developed by the authors, is enhanced further and used concurrently with a controller. The method provides accurate parameter estimates, without any…
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…
A novel identification method is developed which identifies the accumulated angular momentum (AAM) of spinning reaction wheels (RWs) of an uncooperative satellite captured by a robotic servicer. In contrast to other methods that treat captured satellite's RWs as non-spinning, the developed method pr…
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…