On the capture of tumbling satellite by a space robot

Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi

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

101 Citations (Scopus)

Abstract

This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation before and after the contact with the target is discussed from the viewpoint of angular momentum distribution. By using the bias momentum approach during the approaching phase, impedance control during the impact, and distributed momentum control during the post-impact phase, we propose a possible control sequence for the successful completion of a capturing operation.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages4127-4132
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Yoshida, K., Dimitrov, D., & Nakanishi, H. (2006). On the capture of tumbling satellite by a space robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 4127-4132). [4059057] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281900