Momentum dumping for space robots [PDF]
2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017 During the robotic capture of a target object on orbit, accidental contacts may happen. During contacts, momentum is transferred to the system, causing a drift of the space robot in the inertial space. When no remediation is taken, the arm might converge to singularity or workspace limit within seconds, compromising the capture operation.
Giordano, Alessandro Massimo +2 more
openaire +2 more sources
Neural-Network-Based Terminal Sliding Mode Control of Space Robot Actuated by Control Moment Gyros
Aerospace, 2022 This paper studies the trajectory tracking control of a space robot system (SRS) in the presence of the lumped uncertainties with no prior knowledge of their upper bound.
Xinhui Xia +3 more
doaj +1 more source
A Survey of Space Robotic Technologies for On-Orbit Assembly
Space: Science & Technology, 2022 The construction of large structures is one of the main development trends of the space exploration in the future, such as large space stations, large space solar power stations, and large space telescopes.
Delun Li +5 more
doaj +1 more source
Impedance Control for a Free-Floating Robot in the Grasping of a Tumbling Target with Parameter Uncertainty [PDF]
, 2006 This paper addresses an impedance control for free-floating space robot in the grasping of a tumbling target with model uncertainty. Firstly, the operational space dynamics for a free-floating robot is derived with a novel, computationally efficient ...
Abiko, Satoko +5 more
core +1 more source
Robot introspection through learned hidden Markov models [PDF]
, 2006 In this paper we describe a machine learning approach for acquiring a model of a robot behaviour from raw sensor data. We are interested in automating the acquisition of behavioural models to provide a robot with an introspective capability.
Maria Fox +7 more
core +2 more sources
Task Planning of Space-Robot Clusters Based on Modified Differential Evolution Algorithm
Applied Sciences, 2020 This study studies the problem of on-orbit maintenance task planning for space-robot clusters. Aiming at the problem of low maintenance efficiency of space-robot cluster task-planning, this study proposes a cluster-task-planning method based on energy ...
Pengfei Xiao +3 more
doaj +1 more source
Generating Feasible Trajectories for Autonomous On-Orbit Grasping of Spinning Debris in a Useful Time [PDF]
, 2013 The grasping and stabilization of a spinning, noncooperative target satellite by means of a free-flying robot is addressed. A method for computing feasible robot trajectories for grasping a target with known geometry in a useful time is presented ...
Hirzinger, Gerd +3 more
core +1 more source
Dynamic update of a virtual cell for programming and safe monitoring of an industrial robot [PDF]
, 2012 A hardware/software architecture for robot motion planning and on-line safe monitoring has been developed with the objective to assure high flexibility in production control, safety for workers and machinery, with user-friendly interface.
Indri, Marina +3 more
core +1 more source
Algorithms for Mobile Robot Localization and Mapping, Incorporating Detailed Noise Modeling and Multi-scale Feature Extraction [PDF]
, 2006 Mobile robot localization and mapping in unknown environments is a fundamental requirement for effective autonomous navigation. Three different approaches to localization and mapping are presented.
Pfister, Samuel Thomas
core +1 more source
Automation, 2022 Tethers (strings and wires) are used in various mechanical systems because they are lightweight and have excellent storability. Examples of such systems include elevators and cranes.
Kazuki Nirayama +3 more
doaj +1 more source