Abstract
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.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
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