Due to the growing threat from space debris and the accelerating increase in the number of
active satellites, Active Debris Removal (ADR) and In-Orbit Servicing (IOS) missions are …

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 …

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 …

On-orbit servicing and active debris removal missions will rely on the use of unmanned
satellite equipped with a manipulator. Capture of the target object will be the most …

Specific conditions of on-orbit environment are taken into account in the design of all
devices intended to be used in space. Despite this fact malfunctions of satellites occur and …

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 …

In-orbit capture of a non-cooperative satellite will be a major challenge in the proposed
servicing and active debris removal missions. The contact forces between the manipulator …

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 …

Path planning problem for a free-floating space manipulator can be solved in Cartesian
space. In such approach, inverse kinematics is solved on the velocity level using the …

The paper presents a method of controlling the zero dynamics in nonlinear MIMO feedback
linearized system. The method is based on the input signal projection on the decoupling …