NASA NTRS · 20090016242
Force-Control Algorithm for Surface Sampling
Abstract
A G-FCON algorithm is designed for small-body surface sampling. It has a linearization component and a feedback component to enhance performance. The algorithm regulates the contact force between the tip of a robotic arm attached to a spacecraft and a surface during sampling.
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Acikmese, Behcet, Quadrelli, Marco B., Phan, Linh. 2008-06-01. Force-Control Algorithm for Surface Sampling. https://ntrs.nasa.gov/citations/20090016242
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