Invited survey paper on robotic manipulators in space: A dynamics and control perspective

Report (1995)
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Published Date

30-09-1995

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NLR Technical Publication TP 95539 L

Abstract

Large robotic manipulators are to play a key role in assembly, maintenance, and servicing of future complex inorbit infrastructures. The first generation space manipulator is the Canadian Remote Manipulator System (RMS), in orbit since 1981. A second generation of large space manipulators is presently under development, for use on the International Space Station: the Space Station RMS, the European Robotic Arm, and the Japanese Experiment Module RMS. Large robotic space mampulators pose significant challenges to the dynamics and control community. This survey paper discusses dynamics modeUing issues and control schemes for such systems.

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