Engineering test satellite VII flight experiments for space robot dynamics and control: Theories on laboratory test beds ten years ago, now in orbit

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232 Citations (Scopus)

Abstract

The Engineering Test Satellite VII (ETS-VII), an unmanned spacecraft equipped with a 2-m long, six-degree-of-freedom manipulator arm, was developed and launched by the National Space Development Agency of Japan (NASDA). ETS-VII has successfully carried out a variety of on-board experiments with its manipulator arm, and these key technologies are essential for an orbital free-flying robot. These results will provide a solid basis for future satellite servicing missions. This paper highlights manipulator control utilizing the concepts of the generalized Jacobian matrix and the reaction null-space. These concepts have been proposed and discussed for the past ten years using laboratory test beds, and their practical application has now been demonstrated in orbit.

Original languageEnglish
Pages (from-to)321-335
Number of pages15
JournalInternational Journal of Robotics Research
Volume22
Issue number5
DOIs
Publication statusPublished - 2003 May

Keywords

  • Reaction dynamics
  • Satellite servicing
  • Space manipulator

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics

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