Coordinated Control of Spacecraft’s Attitude and End-Effector for Space Robots
Abstract—Thisletteraddressesthecoordinatedcontrolofthespacecraft’sattitudeandtheend-effectorposeofamanipulatorequippedspacerobot.Acontrollerisproposedtosimultaneouslyregulatethespacecraft’sattitude,theglobalcenter-of-mass,andtheend-effectorpose.Thecontrolisbasedonatriangularactuationdecomp
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