S. Ali, A. Moosavian, Rambod Rastegari, Evangelos Papadopoulos K
To increase the mobility of on-orbit robotic systems, Space Free-Flying Robots (SFFR) in which one or more manipulators are mounted on a thruster-equipped base, have been proposed. Unlike fixed-based...
Dynamics & Control of Multi-arm Space Robots During Chase & Capture Operations (2008)
Evangelos Papadopoulos, S. Ali, A. Moosavian
This paper studies the motion control of a multi-arm freeflying space robot chasing a passive object in close proximity. Free-flyer kinematics are developed using a minimum set of body-fixed...
S. Ali, A. Moosavian, Evangelos Papadopoulos
Abstract. In this paper, two basic approaches for kinematics modelling of multiple manipulator Space Free-Flying Robots (SFFRs) are developed. In the barycentric vector approach, the center of mass...
S. Ali, A. Moosavian, Evangelos Papadopoulos
Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space....
Multiple Impedance Control, S. Ali, A. Moosavian, Evangelos Papadopoulos
The Multiple Impedance Control (MIC) is a new algorithm which enforces a designated impedance on both a manipulated object, and all cooperating manipulators. In this paper, the MIC is applied to a...
Asal Amiri Mohammad, A. Moosavian, Hamid R. Khakdaman
The technical feasibility of a method of separating Fischer-Tropsch (F-T) catalysts from the viscous output slurry of F-T bubble column reactor, where the slurry comprises fine catalyst particles...
Brief paper Modified transpose Jacobian control of robotic systems � (2006)
S. Ali, A. Moosavian, Evangelos Papadopoulos B
The simplicity of Transpose Jacobian (TJ) control is a significant characteristic of this algorithm for controlling robotic manipulators. Nevertheless, a poor performance may result in tracking of...
S. Ali, A. Moosavian, Evangelos Papadopoulos
dynamics of space free- � yers with multiple manipulators via SPACEMAPLE
Multiple Impedance Control for Object Manipulation (1998)
Ali Moosavian And, S. Ali, A. Moosavian, Evangelos Papadopoulos
the presence of an unknown environment, have been proposed [8]. The Object Impedance Control (OIC), an extension of impedance control, has been developed for multiple robotic arms manipulating a...
Dynamics & Control of Space Free-Flyers with Multiple Arms (1995)
Evangelos Papadopoulos, S. Ali, A. Moosavian
This paper studies the motion control of a multiple manipulator free-flying space robot chasing a passive object in near proximity. Free-flyer kinematics are developed using a minimum set of...