Model-Free Learning Compensation of Robotic Arm Maneuvres

Автор: Spacecraft Robotics Lab

Загружено: 2025-08-02

Просмотров: 131

Описание:

This video summarizes experiments carried out using Carleton University's SPOT to validate a new iterative learning control approach developed to compensate for attitude disturbances induced by routine in-space robotic arm maneuvers on its base platform. Notably, the proposed technique effectively control the corresponding disturbance torques without the need for complex dynamic models. The improvements in attitude control performance can reduce the keep-out volume needed by the servicer in spacecraft proximity operations, enabling transitions between standard arm configurations without endangering other spacecraft nearby.

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Model-Free Learning Compensation of Robotic Arm Maneuvres

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