Control of a Fully-Actuated Airship for Satellite Emulation

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#Inna Sharf #Bryan Laumonier #Mikael Persson #Joel Robert #Motion Control #Aerial Robotics #Space Robotics #McGill University #robotic grasping of objects in space #satellite emulation #spherical helium airship #Vicon sixcamera system #stationkeeping #rotational motion #3D trajectory.tracking

Researchers at McGill University have developed a new concept for studying dynamics and control of robotic grasping of objects in space. The researchers use a small helium blimp to emulate a free-floating object. This video presents the design and control of the fully-actuated airship used for satellite emulation. The emulation setup consists of a six-degree-of-freedom robotic manipulator placed on a 3 m linear track, a spherical helium airship 6 ft in diamete, made neutrally buoyant and balanced, a Vicon six-camera system and associated control hardware and software interfaces. Three maneuvers are demonstrated in the video: station-keeping, rotational motion and 3D trajectory.tracking.

Researchers at McGill University have developed a new concept for studying dynamics and control of robotic grasping of objects in space. The researchers use a small helium blimp to emulate a free-floating object. This video presents the design and control of the fully-actuated airship. Three maneuvers are demonstrated in the video: station-keeping, rotational motion and 3D trajectory tracking.

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