Disturbance Observer-based Impedance Control for a Compliance Capture of an Object in Space

This paper proposes the use of a disturbance onserver based impedance controller for the capture of satellites using a free floating robot. The use of an impedance controller is ideal for satellite capture as they can generally bu tuned such that an underdamped second order system response is achive...

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Main Author: Flores-Abad, Angel
Other Authors: Crain, Alexander
Format: Memoria in extenso
Language: en_US
Published: ARC Aerospace Research Center 2018
Online Access: http://cathi.uacj.mx/20.500.11961/5964
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