Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-
flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency …

Space robotic systems are expected to play an increasingly important role in future space
activities. Nevertheless, dynamics modeling and motion planning of a space robot are much …

We propose a new approach for dynamic control of redundant manipulators to deal with
multiple prioritized tasks at the same time by utilizing null space projection techniques. The …

This work addresses the problem of the accurate task space control subject to finite-time
convergence. Dynamic equations of a rigid robotic manipulator are assumed to be …

The tractor-trailer wheeled robot is an articulated nonholonomic vehicle. This paper presents
a novel PID-based tracking control law for the tractor-trailer wheeled robot. Theoretical …

This paper deals with the main drivers for the design of a space manipulator aimed to the
removal of the final stages which remain in Low Earth Orbit after releasing their payloads. At …

Abstract Space Manipulator Systems (SMSs) are complex systems made of a platform
equipped with one or more deployable robotic arms and they will be playing a major role in …

This paper proposes a decoupled-space control (DSC) framework for spatial multi-degrees-
of-freedom (DOF) parallel robots, to further improve the control performances of the currently …

Obstacle avoidance is an important subject in the control of robot manipulators, but is
remains challenging for robots with redundant degrees of freedom, especially when there …

A typical approach studied for the guidance of next generation space manipulators
(satellites with robotic arms aimed at autonomously performing on-orbit operations) is to …