Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
A. Bredenbeck,S. Vyas,M. Zwick,D. Borrmann,M.A. Olivares-Mendez,A. Nüchter,A. Bredenbeck,S. Vyas,M. Zwick,D. Borrmann,M.A. Olivares-Mendez,A. Nüchter
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab (ORGL). This work proposes a control architecture for a floating platform at the ORGL, equipped...
