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Tao Yang, Fang Xu, Si Zeng, Shoujun Zhao, Yuwang Liu and Yanbo Wang
This paper presents a novel control strategy for transferring large inertia loads using flexible space manipulators in orbit. The proposed strategy employs a Luenberger state observer and damping-stiffness controller to address issues of large tracking e...
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James Blaise and Michael C. F. Bazzocchi
Recent efforts in on-orbit servicing, manufacturing, and debris removal have accentuated some of the challenges related to close-proximity space manipulation. Orbital debris threatens future space endeavors driving active removal missions. Additionally, ...
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Yuchen Liu, Lai Teng and Zhonghe Jin
Space robots exhibit a strong dynamic coupling between the manipulator and the base spacecraft, with this phenomenon being particularly pronounced in mini space robots. The uncertainty surrounding the inertial parameters of space robots often renders dyn...
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Pengyu Zhang, Jie Zhang and Jiangming Kan
The continuous path of a manipulator is often discretized into a series of independent action poses during path tracking, and the inverse kinematic solution of the manipulator?s poses is computationally challenging and yields inconsistent results. This r...
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Jie Hou, Juan Du and Zhi Chen
To address the issues of low efficiency and lengthy running time associated with trajectory planning for 6-degree-of-freedom manipulators, this paper introduces a novel solution that generates a time-optimal path for a manipulator while adhering to its k...
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Feng Jing, Caiwen Ma, Meilin Xie, Fan Wang, Yu Cao and Xiao Fan
In this paper, the finite-time trajectory tracking control problem of a flexible link manipulator (FLM) system with unknown parameters is investigated in joint space. An adaptive nonsingular terminal sliding mode (ANTSM) controller based on an extended s...
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Yinglong Chen, Qiang Sun, Jia Wang, Junhao Zhang, Pengyu Zhao and Yongjun Gong
Soft manipulators have desirable environmental compatibility because of their pliability. However, this pliability also brings challenges to modeling and control when considering contact or collision with the environment. In previous work, we established...
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Zhibin Zhang, Xinhong Li, Xun Wang, Xin Zhou, Jiping An and Yanyan Li
The safe and dependable removal of large-scale space debris has been a long-standing challenge that is critical to the safety of spacecraft and astronauts. In the process of capturing and deorbiting space debris, the space manipulator must achieve extrem...
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Piotr Palma, Karol Seweryn and Tomasz Rybus
The success of space missions like capture-and-deorbit or capture-and-service relies on the ability of the capturing satellite to establish a stable mechanical connection by its gripping tool with the object being intercepted. Most of the potential objec...
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Yinkang Li, Danyi Li, Wenshan Zhu, Jun Sun, Xiaolong Zhang and Shuang Li
During the on-orbit operation task of the space manipulator, some specific scenarios require strict constraints on both the position and orientation of the end-effector, such as refueling and auxiliary docking. To this end, a novel motion planning approa...
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