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Adaptive Synchronization and Control of Free Flying Robots for Capture of Dynamic Free-Floating Spacecrafts
AIAA/AAS Astrodynamics Specialist Conference and Exhibit
This paper considers the problem of motion synchronization of free flying robotic spacecraft and serviceable floating objects in space. The synchronization maneuvers are conducted in two phases: The first one aimed at maintaining a constant relative separation using thrusters, with the relative position vector directed along the receiving port of the target. The second maneuver then re-orients the pursuer vehicle using passive actuation mechanisms so as to direct the robotic arm along thedoi:10.2514/6.2004-5298 fatcat:sbbxx6lhbfaatcnwsoy7sst3iq