Figure 1.
Schematic view of the free-floating satellite-manipulator system and the general idea of the OVF method
Table 1.
Mass and geometrical properties of the manipulator
| Parameter | Unit | Link 1 | Link 2 | Link 3 |
|---|---|---|---|---|
| Length | m | 0.45 | 0.45 | 0.31 |
| Mass | kg | 2.81 | 2.82 | 4.64 |
| CoM position in Πi | m | |||
| Mass moment of inertia | kg · m2 | 0.0637 | 0.0635 | 0.0515 |
Figure 2.
Gripper trajectory on the XY plane
Figure 3.
Gripper position: X component (left) and Y component (right)
Figure 4.
Gripper orientation (left) and chaser satellite orientation (right)
Figure 5.
Angular positions of manipulator joints
Figure 6.
Chaser satellite mock-up equipped with the 3 DoF manipulator during one of the experiments