IEEE - Institute of Electrical and Electronics Engineers, Inc. - Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Alessandro M. Giordano ; Gianluca Garofalo ; Marco De Stefano ; Christian Ott ; Alin Albu-Schaffer
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 7,527 - 7,534
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799432
Regular:

Common control methods for free-floating robots assume zero initial linear and angular momenta, for which a reduced joint dynamics equivalent to that of a fixed-base robot can be obtained. On the... View More

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