197 citations · 526 across the 13 of their papers we have counts for
6 papers · 1 filter
Impedance Control for Manipulators Handling Heavy Payloads
Farhad Aghili
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to…
Adaptive Visual Servoing for On-Orbit Servicing
Farhad Aghili
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic s…
Automated Rendezvous & Docking Using 3D Vision
Farhad Aghili
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to…
Hybrid Simulator for Space Docking and Robotic Proximity Operations
Farhad Aghili
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operati…
Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control
Farhad Aghili
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to…
Adaptive Machine Learning for Cooperative Manipulators
Farhad Aghili
The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machin…