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Annual Review of Control, Robotics, and Autonomous Systems

Volume 6, 2023

Spacecraft-Mounted Robotics

Abstract

Space-mounted robotics is becoming increasingly mainstream for many space missions. The aim of this article is threefold: first, to give a broad and quick overview of the importance of spacecraft-mounted robotics for future in-orbit servicing missions; second, to review the basic current approaches for modeling and control of spacecraft-mounted robotic systems; and third, to introduce some new developments in terms of modeling and control of spacecraft-mounted robotic manipulators using the language of hypercomplex numbers (dual quaternions). Some outstanding research questions and potential future directions in the field are also discussed.

Keyword(s): control, dual quaternions, dynamics, in-orbit servicing, kinematics, manipulators, robotics, trajectory tracking
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2023-05-03
2025-04-21
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Spacecraft-Mounted Robotics
Annual Review of Control, Robotics, and Autonomous Systems 6, 335 (2023); https://doi.org/10.1146/annurev-control-062122-082114
/content/journals/10.1146/annurev-control-062122-082114
/content/journals/10.1146/annurev-control-062122-082114
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