Control of space free-flying robot

Kazuya Yoshida, Yoji Umetani

Research output: Contribution to journalConference articlepeer-review

32 Citations (Scopus)


Both theoretical and experimental studies on the control of a free-flying robot manipulator for space application are presented. The goal of the studies is to develop a new control method for target capturing in a space micro-gravity environment, considering the dynamical interaction between the manipulator operation and the base vehicle motion. In the theoretical study, a generalized Jacobian matrix (GJM) concept of motion control and a guaranteed workspace (GWS) for path planning are investigated. In the experimental study, a laboratory model of a robot satellite supported on air bearings is developed; the model comprises a base satellite and a two-link manipulator arm. An on-line control scheme with vision feedback is developed for experimenting with capture operations, on the basis of the GJM and GWS. The manipulator can properly chase and capture both a standing target and a moving target in spite of the complex satellite/manipulator dynamical interaction.

Original languageEnglish
Pages (from-to)97-102
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - 1990
EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
Duration: 1990 Dec 51990 Dec 7


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