Engineering Test Satellite VII Flight Experiments For Space Robot Dynamics and Control: Theories on Laboratory Test Beds Ten Years Ago, Now in Orbit  

Oleh:

Yoshida, Kazuya

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 22 no. 5 (May 2003), page 321-335.
Topik: space manipulator; reaction dynamics; satellite servicing
Fulltext: 321.pdf (710.29KB)

Isi artikel

The Engineering Test Satellite VII (ETS-VII), an unmanned spacecraft equipped with a 2-m long, six-degree-of-freedom manipulator arm, was developed and launched by the National Space Development Agency of Japan (NASDA). ETS-VII has successfully carried out a variety of on-board experiments with its manipulator arm, and these key technologies are essential for an orbital free-flying robot. These results will provide a solid basis for future satellite servicing missions. This paper highlights manipulator control utilizing the concepts of the generalized Jacobian matrix and the reaction nullspace. These concepts have been proposed and discussed for the past ten years using laboratory test beds, and their practical application has now been demonstrated in orbit.

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