All devices designed to be used in space must be thoroughly tested in relevant conditions.
For several classes of devices the reduced gravity conditions are the key factor. In early …

With space technology development, the spatial robotic arm plays an increasingly important
role in space activities. Spatial robotic arms can effectively replace humans to complete in …

Manipulator mounted on an unmanned satellite could be used for performing orbital capture
maneuver in order to repair satellites or remove space debris from orbit. Use of manipulators …

The existence of the path dependent dynamic singularities limits the volume of available
workspace of free-floating space robot and induces enormous joint velocities when such …

Microgravity is the aspect of space environment that is important for robotic technologies.
One possible approach to simulate microgravity conditions on Earth is to use planar air …

A significant challenge in manipulation motion planning is to ensure agility in the face of
unpredictable changes during task execution. This requires the identification and possible …

This paper presents an analysis of the capture of an uncontrolled target satellite by a
manipulator mounted on a chaser spacecraft. We compare our novel technique, called …

Manipulators are widely used in orbital operations, for example, Mobile Servicing System on
the International Space Station and Shuttle Remote Manipulator System are used for several …

It is considered to use a manipulator-equipped satellite for performing On-Orbit Servicing
(OOS) or Active Debris Removal (ADR) missions. In this paper, several possible approaches …

We present a numerical method to compute singularity sets in the configuration space of free-
floating robots, comparing two different criteria based on formal methods. By exploiting …