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2006
IEEE

On the Capture of Tumbling Satellite by a Space Robot

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On the Capture of Tumbling Satellite by a Space Robot
— This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation before and after the contact with the target is discussed from the viewpoint of angular momentum distribution. By using the bias momentum approach during the approaching phase, impedance control during the impact, and distributed momentum control during the post-impact phase, we propose a possible control sequence for the successful completion of a capturing operation.
Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi
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