{"id":"https://openalex.org/W4385805699","doi":"https://doi.org/10.3390/act12080325","title":"A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot","display_name":"A Tangent Release Manipulation Controlled by a Dual-Arm Space Robot","publication_year":2023,"publication_date":"2023-08-14","ids":{"openalex":"https://openalex.org/W4385805699","doi":"https://doi.org/10.3390/act12080325"},"language":"en","primary_location":{"id":"doi:10.3390/act12080325","doi":"https://doi.org/10.3390/act12080325","is_oa":true,"landing_page_url":"https://doi.org/10.3390/act12080325","pdf_url":"https://www.mdpi.com/2076-0825/12/8/325/pdf?version=1692016626","source":{"id":"https://openalex.org/S2736557103","display_name":"Actuators","issn_l":"2076-0825","issn":["2076-0825"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Actuators","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2076-0825/12/8/325/pdf?version=1692016626","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100442796","display_name":"Xiaoyi Wang","orcid":"https://orcid.org/0000-0002-8511-1273","observed_orcids":["https://orcid.org/0000-0002-8511-1273"]},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Xiaoyi Wang","raw_affiliation_strings":["School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW 2052, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8511-1273","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW 2052, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063247063","display_name":"Jayantha Katupitiya","orcid":"https://orcid.org/0000-0003-2683-4532","observed_orcids":["https://orcid.org/0000-0003-2683-4532"]},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jayantha Katupitiya","raw_affiliation_strings":["School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW 2052, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW 2052, Australia","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100442796"],"corresponding_institution_ids":["https://openalex.org/I31746571"],"apc_list":{"value":1800,"currency":"CHF","value_usd":2002},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2002},"fwci":0.4874,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5661243,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"12","issue":"8","first_page":"325","last_page":"325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dual-arm-space-robot","display_name":"dual-arm space robot","score":0.8679999709129333},{"id":"https://openalex.org/keywords/on-orbit-servicing","display_name":"on-orbit servicing","score":0.9240000247955322},{"id":"https://openalex.org/keywords/space-manipulators","display_name":"space manipulators","score":0.7039999961853027},{"id":"https://openalex.org/keywords/robust-sliding-mode-control","display_name":"robust sliding mode control","score":0.9380000233650208},{"id":"https://openalex.org/keywords/model-uncertainty","display_name":"model uncertainty","score":0.6980000138282776},{"id":"https://openalex.org/keywords/computed-torque-control","display_name":"computed torque control","score":0.8579999804496765},{"id":"https://openalex.org/keywords/pd-controller","display_name":"PD control","score":0.6029999852180481},{"id":"https://openalex.org/keywords/on-orbit-assembly","display_name":"on-orbit assembly","score":0.890999972820282},{"id":"https://openalex.org/keywords/fuel-conservation","display_name":"fuel consumption reduction","score":0.42800000309944153}],"concepts":[{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.8993432521820068},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7630749940872192},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6147321462631226},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.602226972579956},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5612784624099731},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4785495400428772},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4687272310256958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4603566527366638},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.44859328866004944},{"id":"https://openalex.org/C157157409","wikidata":"https://www.wikidata.org/wiki/Q909601","display_name":"Tangent space","level":2,"score":0.43289715051651},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4239945709705353},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.391705185174942},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.366089403629303},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.32670658826828003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1800195276737213},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1305658519268036},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12966623902320862},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/act12080325","doi":"https://doi.org/10.3390/act12080325","is_oa":true,"landing_page_url":"https://doi.org/10.3390/act12080325","pdf_url":"https://www.mdpi.com/2076-0825/12/8/325/pdf?version=1692016626","source":{"id":"https://openalex.org/S2736557103","display_name":"Actuators","issn_l":"2076-0825","issn":["2076-0825"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Actuators","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2d0c0c36562144d2b4c2419ed6e493d8","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/2d0c0c36562144d2b4c2419ed6e493d8","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Actuators, Vol 12, Iss 8, p 325 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/act12080325","doi":"https://doi.org/10.3390/act12080325","is_oa":true,"landing_page_url":"https://doi.org/10.3390/act12080325","pdf_url":"https://www.mdpi.com/2076-0825/12/8/325/pdf?version=1692016626","source":{"id":"https://openalex.org/S2736557103","display_name":"Actuators","issn_l":"2076-0825","issn":["2076-0825"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Actuators","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385805699.pdf","grobid_xml":"https://content.openalex.org/works/W4385805699.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1553284676","https://openalex.org/W2004421225","https://openalex.org/W2005390477","https://openalex.org/W2020947668","https://openalex.org/W2056373197","https://openalex.org/W2072269811","https://openalex.org/W2080017937","https://openalex.org/W2080641008","https://openalex.org/W2090308161","https://openalex.org/W2109199679","https://openalex.org/W2139890762","https://openalex.org/W2165643318","https://openalex.org/W2461482723","https://openalex.org/W2608076760","https://openalex.org/W2609082423","https://openalex.org/W2626524254","https://openalex.org/W2768760253","https://openalex.org/W2985770712","https://openalex.org/W3007682066","https://openalex.org/W3022939953","https://openalex.org/W3035065238","https://openalex.org/W3035453468","https://openalex.org/W3080425754","https://openalex.org/W3096523706","https://openalex.org/W3108442296","https://openalex.org/W3148688985","https://openalex.org/W3167704887","https://openalex.org/W4200572836","https://openalex.org/W4206796734","https://openalex.org/W4210806222","https://openalex.org/W4289732024","https://openalex.org/W4319596838","https://openalex.org/W4361010302","https://openalex.org/W4362664406","https://openalex.org/W6683099282"],"related_works":["https://openalex.org/W2626524254","https://openalex.org/W6908329087","https://openalex.org/W4388083256","https://openalex.org/W4289732024","https://openalex.org/W4385497501","https://openalex.org/W2373958490","https://openalex.org/W4200529513","https://openalex.org/W845592051","https://openalex.org/W2370454541","https://openalex.org/W2158509271"],"abstract_inverted_index":{"As":[0],"people":[1],"further":[2],"develop":[3],"space":[4,8,35,41,47,62,87,108,120,128,138,178,196,255,260],"with":[5,29,180],"advanced":[6],"technology,":[7],"robots":[9,20,36],"have":[10,78],"played":[11],"a":[12,83,86,95,107,119,126,184,210,218,254,258],"significant":[13],"role":[14],"in":[15,61,101,110,133,136,228],"on-orbit":[16,40,161],"servicing":[17],"missions.":[18],"Space":[19],"can":[21,37,105,124,152],"carry":[22,199],"out":[23,200],"more":[24,43],"risky":[25],"and":[26,57,70,141,231,246],"complicated":[27],"missions":[28,42,77],"less":[30],"cost":[31],"than":[32,45,237],"astronauts.":[33],"Dual-arm":[34],"perform":[38],"complex":[39],"effectively":[44],"single-arm":[46],"robots.":[48],"Since":[49],"the":[50,54,58,68,71,91,111,115,142,176,195,201,222,224,234,238,244,249],"coupled":[51],"dynamics":[52],"between":[53],"free-floating":[55],"base":[56,69],"arms":[59,72],"exist":[60],"robots,":[63],"accurate":[64],"coordinate":[65],"control":[66,125,175,194,214],"of":[67,114,118,157,248,253],"is":[73,99,190],"essential.":[74],"Spacecraft":[75],"release":[76,93,97,106,150,204,251],"been":[79],"proposed":[80,202],"to":[81,85,130,174,192,198],"berth/deberth":[82],"spacecraft":[84,159],"station.":[88],"Based":[89],"on":[90],"existing":[92],"missions,":[94],"tangent":[96,112,149,203,250],"strategy":[98,123],"introduced":[100],"this":[102,148],"paper,":[103],"which":[104],"object":[109,256],"direction":[113],"final":[116],"link":[117],"manipulator.":[121],"This":[122],"dual-arm":[127,177,259],"robot":[129,179,197],"deploy":[131],"cargo/spacecraft":[132],"variable":[134],"directions":[135],"3D":[137],"without":[139],"thrusters":[140],"associated":[143],"fuel":[144],"consumption.":[145],"For":[146,206],"instance,":[147],"operation":[151],"transport":[153],"cargo":[154],"or":[155],"modules":[156],"large-scale":[158],"needing":[160],"assembly.":[162],"Considering":[163],"model":[164,169,235],"uncertainties,":[165],"robust":[166,185],"controllers":[167],"again":[168],"uncertainties":[170,236],"that":[171],"are":[172],"used":[173],"high":[181],"accuracy.":[182],"Hence,":[183],"sliding":[186],"mode":[187],"controller":[188],"(SMC)":[189],"utilized":[191],"accurately":[193],"strategy.":[205],"comparison,":[207],"we":[208],"select":[209],"conventional":[211],"computed":[212],"torque":[213],"(CTC)":[215],"implemented":[216],"by":[217,257],"PD-type":[219],"controller.":[220,240],"In":[221],"simulations,":[223],"SMC":[225],"performs":[226],"better":[227],"tracking":[229],"accuracy":[230],"robustness":[232],"against":[233],"PD":[239],"Numerical":[241],"simulations":[242],"indicate":[243],"feasibility":[245],"effectiveness":[247],"manipulation":[252],"robot.":[261]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-09-06T09:10:53.072986","created_date":"2023-08-15T00:00:00"}
