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This paper discusses the dynamics of a tether-based mobile robot in space. The tether-based mobile robot is constrained geometrically using several tethers and can move within an area bounded by the tethers' anchors by changing the tethers' lengths. This robot is equipped with an extendable and retractable arm that approaches the tethers' anchor and reposition it to another point for changing the...
This paper presents an impedance-based contact control of a free-flying space robot with respect to the coefficient of restitution. Since no object is constrained in space, the contact between two objects in orbit must be treated carefully so as to prevent the objects from inducing undesired contact force and post-contact relative motion. As a solution to this issue, the authors propose a contact...
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