@inproceedings{67c5384dc95d4990a8428f0e59f60d12,
title = "Capture of non-cooperative target using 7-DOF manipulator",
abstract = "On-orbit capturing of the non-cooperative target using manipulator is one of the greatest challenges for the current space technology. With the consideration of this problem, inverse kinematics and control method of a 7-DOF manipulator for capturing non-cooperative target are investigated in this paper. To avoid joint limits, singularities, and obstacles during tracking the desired end-effector trajectory, motion characteristics of the non-cooperative target are firstly analyzed to get the Jacobi matrix of the manipulator. Then, the weighted least-norm solution based scheme is adopted to reach real-time control of the manipulator. Finally, to show the feasibility of the proposed method, numerical simulation results are included for illustration.",
keywords = "non-cooperative target, space manipulator, tracking trajectory",
author = "Ye Du and Guangfu Ma and Liangming Chen and Yanning Guo",
note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",
year = "2017",
month = sep,
day = "7",
doi = "10.23919/ChiCC.2017.8028314",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6021--6026",
editor = "Tao Liu and Qianchuan Zhao",
booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",
address = "美国",
}