相关论文: Modeling of an On-Orbit Maintenance Robotic Arm Te…

In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its friction-less, levitating, yet planar motion over a…

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect…

In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mo- bility, and expandability of existing and future space assets. Serial robotic ma-…

A large number of robotic and human-assisted missions to the Moon and Mars are forecast. NASA's efforts to learn about the geology and makeup of these celestial bodies rely heavily on the use of robotic arms. The safety and redundancy…

Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the…

In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…

This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…

In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…

In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a…

Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…

Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…

This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…

The testing of atmosphere-breathing electric propulsion intakes is an important step in the development of functional propulsion systems which provide sustained drag compensation in very low Earth orbits. To make satellite operations more…

A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…

The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the…