Title :
The kinematics, dynamics, and control of free-flying and free-floating space robotic systems
Author :
Dubowsky, Steven ; Papadopoulos, Evangelos
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
fDate :
10/1/1993 12:00:00 AM
Abstract :
Some important dynamics and control problems unique to space robotic systems are discussed. Particular attention is paid to free-flying and free-floating space robots that might be used for such tasks as space station repair and construction. Advances in solving these problems are briefly reviewed. Three promising methods for planning and controlling the motion of space robotic systems are presented. It is suggested that a thorough understanding of the fundamental dynamics of these systems will result in effective solutions to their control problems
Keywords :
aerospace control; dynamics; kinematics; mobile robots; position control; dynamics; free-floating space robotic systems; free-flying space robots; kinematics; motion control; motion planning; space station repair; Control systems; Kinematics; Manipulators; Orbital robotics; Robotics and automation; Space missions; Space stations; Space technology; Telerobotics; Vehicle dynamics;
Journal_Title :
Robotics and Automation, IEEE Transactions on