A robot engineering textbook
The kinematics and dynamics of space manipulators: the virtual manipulator approach
International Journal of Robotics Research
Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing
Journal of Intelligent and Robotic Systems
Motion equations and control of the free-flying space manipulator in the reconfiguration mode
Automation and Remote Control
Control of multimode manipulative space robot in outer space
Automation and Remote Control
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A brief review of the state-of-the-art in the control of free-flying space robots in the modes of manipulative target lockon by planning the gripper trajectory was presented. For the class of feedback systems, an alternative approach to this problem was proposed. Within the framework of this approach, consideration was given to the problems of constructing the working zone of the space manipulative robot and generating an algorithm to control the manipulative positioning of the load at the desired point of the inertial space with the availability of information about the direction to the target and the distance to it which is acquired using a camcorder mounted at the end link of the manipulator. Examples were presented of computer-aided construction of the working zone and modeling the space robot dynamics which corroborate operability of the proposed algorithm.