Strategies for Control of Space Robots: A Review and Research Agenda

Strategies for Control of Space Robots: A Review and Research Agenda

Migbar Assefa

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Strategies for Control of Space Robots: A Review and Research Agenda

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Abstract

Modelling and control of space robots is not an easy task to perform, because the equations of motion that govern phenomenon are highly nonlinear. Furthermore, unlike fixed base manipulators a freefloating space robot exhibits non-holonomic behavior as a result of the non-integrability of the angular momentum conservation law. In recent days space robots are extensively used to play a significant role in space applications like, scheduled servicing of satellites and spacecrafts including refuelling tasks, inspection of remote sites or verification of structures, retrieval of tumbling tools or astronauts, and assembly or welding of space structures. In a large number of these applications, the manipulator endeffector is required to interact with the environment. Due to the interaction between the endeffector and the environment, the interaction torques act on the endeffector which gets transmitted through links to the base of the vehicle and the orientation of the vehicle changes. Hence, precise control of the manipulator’s trajectory, attitude and impedance are critically important. This paper addressed the current state-oftheart in key areas of the space robotics by reviewing recently available literatures particularly on free flying and free floating space robots which help in summarizing various research outcomes in a structured manner.

References

23 Cites in Article

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Migbar Assefa. 2013. \u201cStrategies for Control of Space Robots: A Review and Research Agenda\u201d. Global Journal of Research in Engineering - A : Mechanical & Mechanics GJRE-A Volume 13 (GJRE Volume 13 Issue A5): .

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GJRE Volume 13 Issue A5
Pg. 23- 28

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

attitude control free floating space robots impedance control space robots trajectory control

Submission ReceivedDecember 8, 2012
Peer Review Double Blind
Handling Editor
Accepted January 4, 2013
Published January 15, 2013

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July 2, 2013

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Article Matrices

Total Score: 71

Country: Ethiopia

Subject: Global Journal of Research in Engineering - A : Mechanical & Mechanics

Authors: Migbar Assefa (PhD/Dr. count: 0)

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