Coordinated Control of Spacecraft’s Attitude and End-Effector for Space Robots

清风不吃醋 38 0 PDF 2019-06-21 19:06:04

Abstract—Thisletteraddressesthecoordinatedcontrolofthespacecraft’sattitudeandtheend-effectorposeofamanipulatorequippedspacerobot.Acontrollerisproposedtosimultaneouslyregulatethespacecraft’sattitude,theglobalcenter-of-mass,andtheend-effectorpose.Thecontrolisbasedonatriangularactuationdecomp

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Coordinated Control of Spacecraft’s Attitude and End-Effector for Space Robots

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