Yubin Zhong

Quasi-Self-Motion-Based Singularity Avoidance for Free-Floating Space Robots

We propose a novel singularity-avoidance method for continuous path planning that maintains zero path-tracking error of a non-redundant free-floating space robot (FFSR). Singularities are a major challenge in the path planning of space robots and may lead to the failure of end-effector tracking tasks. First, the singul...