Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Thumbnail
Download
IconAIAA_2016-5269.pdf (14.91Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Virgili-Llop, Josep
Drew, Jerry V.
Zappulla, Richard II
Romano, Marcello
Date
2016-09
Metadata
Show full item record
Abstract
This paper describes a set of laboratory-based experiments, which demonstrate the autonomous capture of a non-moving resident space object by a spacecraft equipped with a single robotic manipulator. An air bearing test bed is used to simulate weightlessness and frictionless maneuvering on a plane. The chaser is composed by a floating spacecraft simulator carrying a kinematically redundant four-link serial manipulator. The manipulator mass is similar to the mass of its base-spacecraft, resulting in an unusually large dynamic coupling. Emphasis is given to the guidance and control, demonstrating floating, flying and rotation-flying coordinated control strategies. A resolved-motion-rate controller regulates the manipulator joint velocities. The relative navigation problem, solved by the test bed metrology system, has been left outside the scope of this effort. The presented experiments increase the number of space robotics experimental evaluations conducted in dynamically representative environments.
Description
AIAA/AAS Astrodynamics Specialist Conference, Long Beach, CA. The article of record may be found at:http://arc.aiaa.org | DOI: 10.2514/6.2016-5269
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
URI
https://hdl.handle.net/10945/50866
Collections
  • Faculty and Researchers' Publications

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial 

    Wilde, Markus; Choon, Stephen Kwok; Grompone, Alessio; Romano, Marcello (www.frontiersin.org, 2018-04);
    The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM) approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the ...
  • Thumbnail

    MECHATRONICS: THE DEVELOPMENT, ANALYSIS, AND GROUND-BASED DEMONSTRATIONS OF ROBOTIC SPACECRAFT HOPPING WITH A MANIPULATOR 

    Komma, Justin L. (Monterey, CA; Naval Postgraduate School, 2018-12);
    Astrobee is a robot designed by Intelligent Robotics Group at NASA Ames Research Center to operate inside of the International Space Station (ISS). The robot has a manipulator that is made up of various mechanical, electronic, ...
  • Thumbnail

    Design and control of a space based two link manipulator with Lyapunov based control laws 

    Sorensen, Dennis R. (Monterey, California. Naval Postgraduate School, 1992-09);
    The Flexible Spacecraft Simulator (FSS) at the Naval Postgraduate School was modified by replacing the flexible appendage with a two link robotic manipulator. This experimental setup was designed to simulate motion of a ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.