Tracking control for the grasping of a tumbling satellite with a Free-Floating robot

Keyphrases

• Floating-base Robots 100%
• Tracking Control 100%
• Tumbling Satellite 100%
• Visual Servo 66%
• Controller 33%
• Motion Planner 33%
• Joint Space 33%
• Control Method 33%
• Extended Kalman Filter 33%
• Impedance Controller 33%
• Reference Trajectory 33%
• Multibody Dynamics 33%
• Modeling Uncertainty 33%
• Approach Phase 33%
• Rigidization 33%
• Grasping Task 33%
• Velocity Estimate 33%

Engineering

• Robotics 100%
• Servomotors 100%
• Feedforward 50%
• Joint Space 50%
• Multibody Dynamics 50%
• Reference Trajectory 50%
• Approach Phase 50%
• Extended Kalman Filter 50%

Earth and Planetary Sciences

• Robotics 100%
• Uncertainty Modeling 50%
• Kalman Filter 50%