Journal
ACTA ASTRONAUTICA
Volume 60, Issue 12, Pages 957-965Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.actaastro.2006.11.014
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Space robotics currently has an important role in space operations and scientists and engineers are designing new robotic systems for space servicing missions and extra-vehicular activities. In particular, free-flying robots with extended arms have compelling applications and several prototypes have recently been developed. Testing on Earth free-flying robots is a main issue as the unconstrained environment of free space must be simulated. From the experience acquired by testing a free-flying robot prototype both in a tethered facility and during a parabolic flight campaign, and after several years of experiments using air-bearing planar systems, the authors describe and discuss methods to test free-flying robots. A recent study aimed at designing a free-flying platform suitable for an under-water environment is also presented and discussed. (c) 2007 Elsevier Ltd. All rights reserved.
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