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Giordano, Alessandro Massimo; Ott, Christian and Albu-Schaeffer, Alin (2019): Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots. In: IEEE Robotics and Automation Letters, Vol. 4, No. 2: pp. 2108-2115

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This letter addresses the coordinated control of the spacecraft's attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft's attitude, the global center-of-mass, and the end-effector pose. The control is based on a triangular actuation decomposition that decouples the end-effector task from the spacecraft's force actuator, increasing fuel efficiency. The strategy is validated in hardware using a robotic motion simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a six DOF base. The tradeoff between control requirements and fuel consumption is discussed.

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