IEEE - Institute of Electrical and Electronics Engineers, Inc. - An approach to contact detection and isolation for free-floating space robots based on momentum monitoring

2019 IEEE Aerospace Conference

Author(s): Francesco Cavenago ; Alessandro M. Giordano ; Garching Bei Munchen ; Mauro Massari
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 March 2019
Conference Location: Big Sky, MT, USA, USA
Conference Date: 2 March 2019
Page(s): 1 - 9
ISBN (Electronic): 978-1-5386-6854-2
DOI: 10.1109/AERO.2019.8741610
Regular:

In this paper, contact detection and isolation problems for a free-floating space robot are addressed. An approach based on monitoring the total momentum of the system is proposed. Indeed, in... View More

Advertisement