Force sensorless impedance control for a space robot to capture a satellite for on-orbit servicing

This paper proposes the use of the disturbance observer for the design of an impedance controller to perform a safe capture of a target satellite by a space robot. First, the observer aids in the determination of the contact force between the servicer and the target. Later, once the almost perfect m...

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Main Author: Flores-Abad, Angel
Other Authors: Nandayapa Alfaro, Manuel De Jesus
Format: Memoria in extenso
Language: en_US
Published: IEEE 2018
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