Control of a space manipulator for autonomous target capture - ETS-VII flight experiments and analysis

Kazuya Yoshida, Kenichi Hashizume, Dragomir N. Nenchev, Noriyasu Inaba, Mitsushige Oda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

The Engineering Test Satellite VII (ETS-VII), developed and launched by National Space Development Agency of Japan (NASDA) has been successfully flown and carried out a lot of interesting orbital robotics experiments with a 2 meter-long, 6 DOF manipulator arm mounted on this un-manned spacecraft. The ETS-VII should be noted as one of remarkable outcomes of research effort on space robots, particularly characterized as an orbital free-flying robot. After the introduction of the theoretical background for the motion control of a space manipulator and the general overview of the ETSVII flight mission, this paper will highlight key technologies for possible autonomous capture of a free-floating target, which were verified one by one in orbit. Post-flight analysis by numerical simulations to make up a whole sequence of autonomous target capture and the evaluation of the control performance in different strategies are discussed.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786
DOIs
Publication statusPublished - 2000
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2000 - Dever, CO, United States
Duration: 2000 Aug 142000 Aug 17

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2000
CountryUnited States
CityDever, CO
Period00/8/1400/8/17

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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