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Simulink schemes to control a space manipulator to follow an end-effector trajectory

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SpaceManipulatorControl

Simulink schemes to control a space manipulator to follow an end-effector trajectory.

The scheme is divided in 2 main layers: one kinematic layer and one dynamic layer. The aim is to track a desired end-effector trajectory (given as pose and velocity) to ideally catch a space debris (the final grasping phase is not present). More information can be found in the pdf.

Tools

Usage

  • Clone repository
  • Clone SPART repository and put it into same folder
  • Run main.m before launching any of the 4 simulink schemes:
    • FreeFloating
    • FreeFlying
    • Rotation FreeFlying
    • FreeFloating with Null Space Exploitation

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Simulink schemes to control a space manipulator to follow an end-effector trajectory

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