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- W2562942908 abstract "In this paper, the contact motion between robotic manipulator under impedance control and rigid body floating in space is modeled and analyzed. The contact motion between rigid bodies floating in space is formulated and dynamic conditions were investigated in order to capture a non-cooperative satellite. The equivalant mass of the tip of manipulator come from impedance control is discussed. The simulation model of contact motion between a floating target and a manipulator under impedance control is established. For validation of this model, experiment with a robotic arm and a pendulum is carried out. Using the simulation model, it is inspected that the influance of the damping factor, the control time delay and the contact stiffness between the chaser hand and the target on the VMI." @default.
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- W2562942908 date "2004-01-01" @default.
- W2562942908 modified "2023-09-24" @default.
- W2562942908 title "CAPTURE OF A NON-COOPERATIVE SATELLITE BY A ROBOT MANIPULATOR UNDER THE IMPEDANCE CONTROL" @default.
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