mrkjankovic / SpaceManipulatorControl

Simulink schemes to control a space manipulator to follow an end-effector trajectory

SpaceManipulatorControl

Simulink schemes to control a space manipulator to follow an end-effector trajectory.

The scheme is divided in 2 main layers: one kinematic layer and one dynamic layer. The aim is to track a desired end-effector trajectory (given as pose and velocity) to ideally catch a space debris (the final grasping phase is not present). More information can be found in the pdf.

Tools

• Matlab/Simulink with Simscape Multibody
• SPART SPAcecraft Robotic Toolkit
• Some function from my university (simulation_script folder), developed at GRAAL

Usage

• Clone repository
• Clone SPART repository and put it into same folder
• Run main.m before launching any of the 4 simulink schemes:
  • FreeFloating
  • FreeFlying
  • Rotation FreeFlying
  • FreeFloating with Null Space Exploitation