6 accepted papers
In this work, we propose a novel control strategy for the displacement of an orbital manipulator equipped with a thruster module at its end-effector. In contrast to the use of base-mounted thrusters, which often leads to allocation problems and fuel inefficiencies, the proposed approach achieves cen
In on-orbit servicing missions using robotic manipulators, certain challenging scenarios require the use of combined control i.e. actuation of spacecraft and the manipulator, to meet mission requirements. The low frequency of the controller of the spacecraft compared to the manipulator can compromis
In on-orbit servicing missions using robotic manipulators, certain challenging scenarios require the use of combined control i.e. actuation of spacecraft and the manipulator, to meet mission requirements. The low frequency of the controller of the spacecraft compared to the manipulator can compromis…
This paper exploits the robotic capabilities of an orbital manipulator equipped with an actuation module at its end-effector to perform close-proximity robotic operations. The proposed control strategy enables repositioning the system's center-of-mass by reconfiguring the manipulator configuration a
The on-ground validation of orbital manipulators is a challenging task because the robot is designed for a gravity-free operational environment, but it is validated under the effect of gravity. As a consequence, joint torque limits can be easily reached in certain configurations when gravity is acti…
In this paper, we propose a detumbling strategy that stabilizes the motion of a tumbling client satellite using an orbital servicing manipulator, which is the goal of the post-grasp phase. One of the critical aspects in this phase is ensuring that excessive contact forces are not generated at the gr…