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