TY - GEN
T1 - Control of a space manipulator for autonomous target capture - ETS-VII flight experiments and analysis
AU - Yoshida, Kazuya
AU - Hashizume, Kenichi
AU - Nenchev, Dragomir N.
AU - Inaba, Noriyasu
AU - Oda, Mitsushige
PY - 2000
Y1 - 2000
N2 - 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.
AB - 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.
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U2 - 10.2514/6.2000-4376
DO - 10.2514/6.2000-4376
M3 - Conference contribution
AN - SCOPUS:85087190057
SN - 9781563479786
T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit
BT - AIAA Guidance, Navigation, and Control Conference and Exhibit
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit 2000
Y2 - 14 August 2000 through 17 August 2000
ER -