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Manipulator mounted on an unmanned chaser satellite could be used for performing orbital capture maneuver in order to repair satellites or remove space debris from orbit. Use of manipulators for such purposes is challenging, since the performed task need to be done autonomously, accurately and with robustness even if possible high disturbances appear e.g. due to contact between the manipulator arm...
This paper studies the infinite-dimensional algebraic Sylvester equation and its application to the problem of designing an asymptotic observer for a linear infinite-dimensional system with bounded input and unbounded output operators. The main general results on the infinite-dimensional differential and algebraic Sylvester equations are derived by employing the concept of an implemented semigroup...
Path planning problem for a free-floating space manipulator can be solved in Cartesian space. In such approach, inverse kinematics is solved on the velocity level using the manipulator Jacobian, but dealing with dynamic singularities may be problematic. In this study, we present application of the Bézier curves for path planning. Modifications of curve shape allow avoidance of singularities. The selection...
Presented are results of simulations of B-dot detumbling for satellites with different types of non-symmetrical mass distributions. Results are next compared with the theoretical derivation of the problem made for the case of spherically symmetrical bodies.
The paper presents a method of controlling the zero dynamics in nonlinear MIMO feedback linearized system. The method is based on the input signal projection on the decoupling matrix kernel, which leaves the linearized output invariant while controlling the zero dynamics part of the system. The application of the method to the control of space manipulator is proposed.
The lifetime of a considerable number of satellites is significantly shortened by malfunctions occurring during operational period; therefore, unmanned satellite servicing missions are considered. This paper presents an approach for analyses of various configurations and parameters of manipulator intended for on-orbit servicing. It is based on analytical method used to analyse workspace and singularities...
Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.
This paper presents a new method for dynamic compensation of the load cell response using linear time-varying continuous-time filter. Load cells have an oscillatory response which always needs time to settle down. Therefore, it is justified to search a technique for an effective improvement of the sensor response. The paper describes a theoretical implementation of the proposed time-varying filter,...
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