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JRM Vol.12 No.4 pp. 385-393
doi: 10.20965/jrm.2000.p0385
(2000)

Paper:

A Practical Control Scheme for Autonomous Capture of Free-Flying Satellites by Space Robotic Manipulator based on Predictive Trajectory

Hiroyuki Nagamatsu, Takashi Kubota and Ichiro Nakatani

The Institute of Space and Astronautical Science, 3-1-1, Yoshinodai, Sagamihara-shi, Kanagawa 229-0035, Japan

Received:
December 20, 1999
Accepted:
April 20, 2000
Published:
August 20, 2000
Keywords:
Space manipulator, Capture of satellite, Visual feedback control, Prediction, Hardware simulator
Abstract

This paper describes a practical control scheme for autonomous capture of a free-flying satellite in space using an onboard manipulator. In capturing a satellite, a reference trajectory for control of a manipulator is generated with a time delay due to the processing time of a target motion estimator and a manipulator controller. Consequently, the control system shows poor performance and the end-effector sometimes fails to capture the target satellite. To solve this problem, a control system is proposed that utilizes predictive trajectory based on target satellite dynamics. The validity and usefulness of the proposed control method are shown by computer simulations and experiments using a 3-D hardware simulator with 9 degrees of freedom.

Cite this article as:
Hiroyuki Nagamatsu, Takashi Kubota, and Ichiro Nakatani, “A Practical Control Scheme for Autonomous Capture of Free-Flying Satellites by Space Robotic Manipulator based on Predictive Trajectory,” J. Robot. Mechatron., Vol.12, No.4, pp. 385-393, 2000.
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