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A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the position and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained...
This paper is concerned with the dynamics of a spacecraft with multi-strut passive damper for large flexible appendage. The damper platform is connected to the spacecraft by a spheric hinge, multiple damping struts and a rigid strut. The damping struts provide damping forces while the rigid strut produces a motion constraint of the multibody system. The exact nonlinear dynamical equations in reducedorder...
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