This paper extends a previously developed task-priority control algorithm for space robots to higher task dimensions, such that no degrees of freedom remain uncontrolled. The proposed design adopts an inner–outer loop paradigm and leverages a hierarchical formulation of the imposed tasks. This structure ensures modularity, robustness to singularities, and safe task execution in complex space operations.
Hierarchical Task-Priority Tracking Control in Space Robots
Bruschi, Pietro;Invernizzi, Davide
2026-01-01
Abstract
This paper extends a previously developed task-priority control algorithm for space robots to higher task dimensions, such that no degrees of freedom remain uncontrolled. The proposed design adopts an inner–outer loop paradigm and leverages a hierarchical formulation of the imposed tasks. This structure ensures modularity, robustness to singularities, and safe task execution in complex space operations.File in questo prodotto:
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