Control of free-flying space robot manipulator systems

Abstract

To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented