Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite
Bibliographic record
Abstract
This paper focuses on the guidance of a robot manipulator to capture a tumbling satellite and then bring it to state of rest (detumbling). First, a coordination control for combined system of the space robot and the target satellite, which acts as the manipulator payload, is presented so that the robot tracks the optimal path while regulating the attitude of the chase vehicle to a desired value. Subsequently, two optimal trajectories for the pre- and post-capture phases are designed. In the pre-capturing phase, the manipulator maneuvers are optimized by minimizing a cost function which includes the time of travel and the weighted norms of the end-effector velocity and acceleration, subject to the constraint that the robot end-effector and a grapple fixture on the satellite arrive at the rendezvous point with the same velocity. In the post-grasping phase, the manipulator dumps the initial velocity of the tumbling satellite in minimum time subject to the constraint that the magnitude of the torque applied to the satellite remains below a safe value. Simulation and experimental results are appended.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".