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- W2913424154 abstract "This thesis work presents an analysis of the functional differences between variouscoordinated control strategies for space manipulators, focusing primarily on fuel efficiency.First, a comparison between a standard free-flying controller and novel momentum-basedcontrollers is conducted in order to demonstrate the advantages of the latter approaches.Then, since the considered schemes can suffer performance degradation due to the presenceof singularities, the momentum-based method is further extended with a singularityavoidance potential that exploits the full actuation of the system. Thanks to thisextension, the whole space robot can be imagined as a flying end-effector, with the restof the system executing only a manipulability optimization sub-task and avoiding rigidpositioning of the base. This leads to a new paradigm for space robot control, invertingthe typical conception of space robots, conventionally seen as a satellite plus an armpayload." @default.
- W2913424154 created "2019-02-21" @default.
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- W2913424154 date "2018-03-15" @default.
- W2913424154 modified "2023-09-24" @default.
- W2913424154 title "Coordinated Control Strategies for a Space Robot" @default.
- W2913424154 hasPublicationYear "2018" @default.
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