Model predictive control for cooperative control of space robots

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and success...

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Main Authors: Kannan, Somasundar, Alamdari, Seyed Amin Sajadi, Dentler, Jan, Olivares-Mendez, Miguel A., Voos, Holger
Format: Conference Proceeding
Language:English
Subjects:
Computer simulation
Cooperative control
Mathematical models
Predictive control
Robot arms
Robot control
Space robots
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creator Kannan, Somasundar
Alamdari, Seyed Amin Sajadi
Dentler, Jan
Olivares-Mendez, Miguel A.
Voos, Holger
description The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.
doi_str_mv 10.1063/1.4972660
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source American Institute of Physics:Jisc Collections:Transitional Journals Agreement 2021-23 (Reading list)
subjects Computer simulation
Cooperative control
Mathematical models
Predictive control
Robot arms
Robot control
Space robots
title Model predictive control for cooperative control of space robots
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