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- W2325719739 abstract "The paper is focused on the dynamics of a manipulator mounted on a free-flying satellite performing rendezvous and docking maneuver (RVD). The target satellite is assumed to be passive, without attitude control and telecommunication link. The servicing satellite performs, by means of thrusters, a fly - by maneuver, in which it approaches the target satellite on a non-collision path. In the last phase of the RVD maneuver, when the 6dof manipulator executes a predefined path towards the target, it can disturb the dynamics and, in consequence, the trajectory of the servicing satellite. The system (satellite + manipulator) is nonholonomic and its linear momentum and angular momentum are not conserved. The paper describes the algorithm of the manipulator trajectory planning, based on the calculus of variation, which can solve (n+6) dof problem. The cost functional trades off power use of the DC motor and additional conditions constraining the end-effector motion so that it reaches the final desired state expressed as the linear and angular position and velocity. The behavior of the system is described in the Lagrangian formulation and the collocation method is chosen to solve the boundary value problem. The initial trajectory is calculated using the Generalized Jacobian Matrix (GJM) approach that is extended to the system, in which linear and angular momentum is not conserved. An example is provided that shows the optimal trajectory of the LBR manipulator during the RVD maneuver to a tumbling satellite." @default.
- W2325719739 created "2016-06-24" @default.
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- W2325719739 date "2008-06-15" @default.
- W2325719739 modified "2023-09-26" @default.
- W2325719739 title "Optimization of the Trajectory of a General Free-Flying Manipulator During the Rendezvous Maneuver" @default.
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- W2325719739 doi "https://doi.org/10.2514/6.2008-7273" @default.
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