Engineering Test Satellite VII flight experiments for space robot dynamics and control: Theories on laboratory test beds ten years ago, now in orbit

The Engineering Test Satellite VII (ETS- VII), an unmanned spacecraft equipped with a 2-m long, six-degree-of-freedom manipulator arm, was developed and launched by the National Space Development Agency of Japan (NASDA). ETS- VII has successfully carried out a variety of on-board experiments with its manipulator arm, and these key technologies are essential for an orbital free-flying robot. These results will provide a solid basis for future satellite servicing missions. This paper highlights manipulator control utilizing the concepts of the generalized Jacobian matrix and the reaction null-space. These concepts have been proposed and discussed for the past ten years using laboratory test beds, and their practical application has now been demonstrated in orbit.