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Spacecraft-Mounted Robotics
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DOI：10.1146/annurev-control-062122-082114.png)
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摘要
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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 of spacecraft-mounted robotics for future in-orbit servicing missions; second, to review the basic current approaches for modeling and control of spacecraft-mounted robotic systems; and third, to introduce some new developments in terms of modeling and control of spacecraft-mounted robotic manipulators using the language of hypercomplex numbers (dual quaternions). Some outstanding research questions and potential future directions in the field are also discussed.
Keyword:
robotics
manipulators
in-orbit servicing
control
trajectory tracking
dual quaternions
dynamics
kinematics
期刊
A
IF:
14
论文数:
98
被引数:
2.3K
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