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Control Strategies for the Capture of Payloads in Space

Existing or future satellites and space structures will require extensive inspection, construction and maintenance capabilities. Space robotic systems are envisioned to approach, capture, and service such man-made objects in orbit. However, capturing/docking on an object with nonzero momentum and/or internal dynamics, is a challenging task. In this research, we develop dynamic models to describe the behavior of multi-manipulator space robots, and design efficient planning and control strategies to facilitate capture of drifting payloads in space. Figure gif illustrates a free-flying space robotic system.

A. Moosavian, E. Papadopoulos

  
Figure: A multiple arm free-flying space robotic system thrusting towards a target.



Thierry Baron
Mon Nov 13 10:43:02 EST 1995