Spacecraft-mounted robotics
Space-mounted robotics is becoming increasingly mainstream for many space missions.
The aim of this article is threefold: first, to give a broad and quick overview of the importance …
The aim of this article is threefold: first, to give a broad and quick overview of the importance …
Quantitative precision second-order temporal transformation based pose control for spacecraft proximity operations
Y **ao, Y Yang, D Ye, JQ Zhang - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
This paper designs a novel 6-Degree-of-Freedom (6-DOF) relative motion control scheme
for spacecraft proximity operations with quantitative precision (QP), which simultaneously …
for spacecraft proximity operations with quantitative precision (QP), which simultaneously …
Artificial potential function based spacecraft proximity maneuver 6-DOF control under multiple pyramid-type constraints
L Wang, Y Guo, G Ma, H Zhang - ISA transactions, 2022 - Elsevier
This paper addresses the problem of spacecraft six degree of freedom (6-DOF) pose
tracking control with collision avoidance and field of view (FOV) pyramid-type constraints …
tracking control with collision avoidance and field of view (FOV) pyramid-type constraints …
Pose tracking without linearand angular-velocity feedback using dual quaternions
Since vision-based sensors typically cannot directly measure the relative linear and angular
velocities between two spacecraft, it is useful to develop attitude-and position-tracking …
velocities between two spacecraft, it is useful to develop attitude-and position-tracking …
Run Time Assurance for Spacecraft Attitude Control Under Nondeterministic Assumptions
This article presents a comprehensive development and testing of a run time assurance
(RTA) filter for a torque-controlled spacecraft in free rotational motion with torque actuation …
(RTA) filter for a torque-controlled spacecraft in free rotational motion with torque actuation …
Robust hybrid global dual quaternion pose control of spacecraft-Mounted robotic systems
We propose a nonlinear hybrid dual quaternion feedback control law for multibody
spacecraft-mounted robotic systems (SMRSs) pose control. Indeed, screw theory expressed …
spacecraft-mounted robotic systems (SMRSs) pose control. Indeed, screw theory expressed …
Adaptive sliding mode control of a perturbed satellite in a formation antenna array
Control of a perturbed satellite formation antenna array, with dual quaternion dynamics, is
considered. The perturbations and their derivatives are assumed bounded with unknown …
considered. The perturbations and their derivatives are assumed bounded with unknown …
Partial Lyapunov strictification: Dual-quaternion-based observer for 6-DOF tracking control
Based on the dual-quaternion description, a smooth six-degree-of-freedom observer is
proposed to estimate the incorporating linear (translational) and angular velocity, called the …
proposed to estimate the incorporating linear (translational) and angular velocity, called the …
Kinematic calibration of serial robot using dual quaternions
G Li, F Zhang, Y Fu, S Wang - Industrial Robot: the international …, 2019 - emerald.com
Purpose The purpose of this paper is to propose an error model for serial robot kinematic
calibration based on dual quaternions. Design/methodology/approach The dual quaternions …
calibration based on dual quaternions. Design/methodology/approach The dual quaternions …
Dual quaternion framework for modeling of spacecraft-mounted multibody robotic systems
This paper lays out a framework to model the kinematics and dynamics of a rigid spacecraft-
mounted multibody robotic system. The framework is based on dual quaternion algebra …
mounted multibody robotic system. The framework is based on dual quaternion algebra …