Whole-body compliance for multi-arm space robotic capturing of large tumbling target in connection compliant phase
Based on the characteristics of large tumbling space debris, this article proposes an effective method for whole-body compliant controller to eliminate the effects of the relative velocity between chaser and target which is not zero after the capture hands hold their corresponding handles tightly th...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-04-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814018767196 |