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        Laboratory experiments of resident space object capture by a spacecraft-manipulator system

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        Author
        Virgili-Llop, Josep
        Drew, Jerry V.
        Zappulla, Richard II
        Romano, Marcello
        Date
        2017
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        Abstract
        A set of laboratory experiments are conducted to demonstrate the autonomous capture of a simulated resident space object by a simulated spacecraft equipped with a robotic manipulator. A planar air-bearing test bed provides a quasi-weightless and drag-free dynamic environment on a plane. To control the chaser’s base, floating, flying, and rotation-flying control approaches are implemented and compared. A resolved-motion-rate controller is used to control the manipulator’s joints. Using these control methods a floating object at rest is successfully captured. Furthermore, the capture of a floating and rotating object is demonstrated using a flying base control approach. The originality of these experiments comes from the remarkably high dynamic coupling of the spacecraft-manipulator system used. Emphasis is given to the guidance and control problems, with the relative navigation problem being left outside the scope of this effort.
        Description
        The article of record as published may be found at http://dx.doi.org/10.1016/j.ast.2017.09.043
        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
        http://hdl.handle.net/10945/56215
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          Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments 

          Virgili-Llop, Josep; Drew, Jerry V.; Zappulla, Richard II; Romano, Marcello (2016-09);
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          Feasibility study of an aerial manipulator interacting with a vertical wall 

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          An algorithm to guide the capture of a tumbling resident space object by a spacecraft equipped with a robotic manipulator is presented. A solution to the guidance problem is found by solving a collection of convex programming ...
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