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Control Strategies for the Capture of Payloads in Space

A. Moosavian, E. Papadopoulos 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 28 illustrates a free-flying space robotic system. [space_robot1.ps].50 A multiple arm free-flying space robotic system thrusting towards a target.egpapado:sali



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997