Research/ IN-SPACE SERVICING
On Orbit Servicing Flexible Space Robots Dynamics and Control During Capturing Target
Zhifu Yu, Yongbo Yu, Deyong Shang, Fangna Yu
International Conference on Measuring Technology and Mechatronics Automation (ICMTMA) 2010// 2 citations
Space × RoboticsIN-SPACE SERVICING
Technique
Manipulation & Graspingtext match · Guidance, Dynamics & ControlOpenAlex topic: Dynamics and Control of Mechanical Systems · Design, Mechanisms & HardwareOpenAlex topic: Soft Robotics and Applications
Dynamics and control of a flexible space robot capturing a static target was presented in this paper. The dynamics model of the robot system is derived with Lagrangian formulation. The control method of flexible space during capturing target was discussed. Finally, some simulation tests have conducted that the proposed method can assurance the stability of capturing the object and reach a good effectiveness for capturing planning.