Dynamic control of free-floating coordinated space robots

DOI10.1002/(SICI)1097-4563(199804)15:4%3C217::AID-ROB4%3E3.0.CO;2-SMaRDI QIDQ4269698zbMATH OpenOpenAlexFDO

Authors Yan-Ru Hu, George Vukovich

Publication date 9 November 1999

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199804)15:4%3C217::aid-rob4%3E3.0.co;2-s

zbMATH Keywords

asymptotic convergence of errors to zeroclosed kinematic constraintserror modelsfree-floating coordinated space robotsinternal force controllerposition controllerstability

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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