Year: 2026
Type: conference-paper
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.
Source: Materials research proceedings
Author: Pietro BRUSCHI
Institution: Politecnico di Milano
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W7167847859