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Multi-Axis Selective Decoupling Framework for Free-Floating Space Manipulators
Daegyun Choi, Donghoon Kim
Free-floating space manipulator systems face operational challenges due to dynamic coupling. While traditional reactionless manipulation eliminates base disturbances, enforcing the…
Genetic Fuzzy System-Based Multi-Robot Coordination for Planetary Missions
Daegyun Choi, Donghoon Kim
This paper proposes a decentralized approach for a multi-robot system (MRS) using a genetic fuzzy system to perform a collaborative object transportation task that minimizes the to…
Modeling and Control Framework for Autonomous Space Manipulator Handover Operations
Diego Quevedo, Sarah Hudson, Donghoon Kim
Autonomous space robotics is poised to play a vital role in future space missions, particularly for In-space Servicing, Assembly, and Manufacturing (ISAM). A key capability in such…
Understanding and Utilizing Dynamic Coupling in Free-Floating Space Manipulators for On-Orbit Servicing
Gargi Das, Daegyun Choi, Donghoon Kim
This study proposes a dynamic coupling-informed trajectory optimization algorithm for free-floating space manipulator systems (SMSs). Dynamic coupling between the base and the mani…
Adapting Biological Reflexes for Dynamic Reorientation in Space Manipulator Systems
Daegyun Choi, Alhim Vera, Donghoon Kim
Robotic arms mounted on spacecraft, known as space manipulator systems (SMSs), are critical for enabling on-orbit assembly, satellite servicing, and debris removal. However, contro…