Impedance-based contact control of a free-flying space robot with a compliant wrist for non-cooperative satellite capture.
Naohiro UyamaHiroki NakanishiKenji NagaokaKazuya YoshidaPublished in: IROS (2012)
Keyphrases
- position control
- cooperative
- end effector
- force feedback
- vision system
- robotic manipulator
- joint space
- robot control
- force control
- control system
- visual servoing
- robot manipulators
- mobile robot
- robotic systems
- autonomous robots
- degrees of freedom
- robot arm
- closed loop
- control signals
- motion control
- remote sensing
- control strategies
- robotic arm
- space time
- walking robot
- home environment
- robot motion
- control scheme
- control method
- control strategy
- search space
- computer controlled
- control architecture
- hand eye
- multi robot
- motor learning
- optimal control
- real time
- formation control
- reinforcement learning
- robot behavior
- virtual space
- sensory motor
- human operators
- inverse kinematics