Robotic on-orbit servicing is the key to the commercial development of a space robotics infrastructure. A major technical difficulty has been the problem of control of the robotic manipulators mounted onto a freeflying platform in space. The problem of control is directly related to the fact that manipulator motions exert reaction effects on the mounting spacecraft. A solution to this problem is outlined - one in which no fuel is expended and that demands no excessive computational resources that would otherwise preclude real-time performance.

Additional Metadata
Keywords Control, Dynamics, Kinematics, On-orbit servicing, Robotics, Spacecraft
Persistent URL dx.doi.org/10.1243/0954410041321998
Journal Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Citation
Ellery, A. (2004). An engineering approach to the dynamic control of space robotic on-orbit servicers. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 218(2), 79–98. doi:10.1243/0954410041321998