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Force-Control Algorithm for Surface SamplingA 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.
Document ID
20090016242
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other - NASA Tech Brief
External Source(s)
http://www.defensetechbriefs.com/component/content/article/2857
Authors
Acikmese, Behcet (California Inst. of Tech. Pasadena, CA, United States)
Quadrelli, Marco B. (California Inst. of Tech. Pasadena, CA, United States)
Phan, Linh (California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
June 1, 2008
Publication Information
Publication: NASA Tech Briefs, June 2008
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
NPO-44377
Report Number: NPO-44377
Distribution Limits
Public
Copyright
Public Use Permitted.

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