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This paper presents an adaptive inverse-dynamics-based control approach of a free-flying space robot manipulator in contact with a target satellite. A reduced-order dynamics model is derived by finding a common solution of all constraints via orthogonal projectors matrices. The proposed controller does not only show the capability to meet the desired specifications of motion and contact forces, and...
This paper presents an inverse-dynamics-based control approach of a free-flying space robot manipulator interacting with a target satellite. The proposed controller handles the overall combined coupled dynamics of the based-satellite servicing robot and the passive target satellite all together with geometric and momentum constraints imposed on the system. A reduced-order dynamical model is obtained...
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