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This paper presents a novel way to derive the analytical expression of the reaction torque acted on the satellite base's centroid firstly. The reaction torque is acted as the optimization index to achieve the satellite base disturbance minimization in this paper. The null-space based solution and Lagrange multipliers based solution are utilized to solve the reaction torque plus joint torque minimization...
In the paper, a new method named Cartesian Space Synchronous Impedance Control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can...
In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and...
This paper presents research and development for a hybrid visual servoing control method for a newly developed space robot. The hybrid scheme consists of an eye-in-hand camera and eye-to-hand camera configuration. The first one guarantees good accuracy and the ability to explore the workspace; the second one ensures a panoramic sight of the workspace. The motivation of this paper is to take advantage...
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