On the capture of tumbling satellite by a space robot

Kazuya Yoshida; Dimitar Dimitrov; Hiroki Nakanishi

doi:10.1109/IROS.2006.281900

On the capture of tumbling satellite by a space robot

Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi

ENG - Aerospace Engineering

Tohoku University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

130 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 language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	4127-4132
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.281900
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

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10.1109/IROS.2006.281900

Cite this

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title = "On the capture of tumbling satellite by a space robot",

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.",

author = "Kazuya Yoshida and Dimitar Dimitrov and Hiroki Nakanishi",

year = "2006",

doi = "10.1109/IROS.2006.281900",

language = "English",

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series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4127--4132",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

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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., 4059057, IEEE International Conference on Intelligent Robots and Systems, pp. 4127-4132, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281900

On the capture of tumbling satellite by a space robot. / Yoshida, Kazuya; Dimitrov, Dimitar; Nakanishi, Hiroki.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 4127-4132 4059057 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Dimitrov, Dimitar

AU - Nakanishi, Hiroki

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

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BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

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Y2 - 9 October 2006 through 15 October 2006

ER -

On the capture of tumbling satellite by a space robot

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