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• W1539688435 abstract "We are developing an autonomous mo- bile robotic system to emulate six degree of freedom relative spacecraft motion during proximity opera- tions. A mobile omni-directional base robot provides x, y, and yaw planar motion with moderate accuracy through six independently driven motors. With a six degree of freedom micro-positioning Stewart platform on top of the moving base, six degree of freedom spacecraft motion can be emulated with high accu- racy. This paper presents our approach to dynamic modeling, control, and simulation for the overall sys- tem. Compared with other simulations that intro- duced significant simplifications, we believe that our rigorous modeling approach is crucial for the high fi- delity hardware in-the-loop emulation." @default.
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• W1539688435 date "2009-01-01" @default.
• W1539688435 modified "2023-09-29" @default.
• W1539688435 title "Modeling, Control and Simulation of a Novel Mobile Robotic System" @default.
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• W1539688435 doi "https://doi.org/10.1007/978-1-4020-8919-0_31" @default.
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