{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,27]],"date-time":"2026-04-27T04:51:41Z","timestamp":1777265501798,"version":"3.51.4"},"reference-count":70,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2016,7,8]],"date-time":"2016-07-08T00:00:00Z","timestamp":1467936000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2016,7,8]],"date-time":"2016-07-08T00:00:00Z","timestamp":1467936000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,3]]},"DOI":"10.1007\/s10846-016-0396-2","type":"journal-article","created":{"date-parts":[[2016,7,8]],"date-time":"2016-07-08T04:42:40Z","timestamp":1467952960000},"page":"491-509","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":135,"title":["Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC)"],"prefix":"10.1007","volume":"85","author":[{"given":"Tomasz","family":"Rybus","sequence":"first","affiliation":[]},{"given":"Karol","family":"Seweryn","sequence":"additional","affiliation":[]},{"given":"Jurek Z.","family":"Sasiadek","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2016,7,8]]},"reference":[{"key":"396_CR1","unstructured":"Jenkins, D.R.: Space Shuttle: The History of the National Space Transportation System, The First 100 Missions, 3rd edn (2001)"},{"key":"396_CR2","unstructured":"Stieber, M.E., Hunter, D.G., Abramovici, A.: Overview of the mobile servicing system for the international space station. In: Proceedings of the 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS\u20191999), Noordwijk (1999)"},{"issue":"5","key":"396_CR3","doi-asserted-by":"publisher","first-page":"649","DOI":"10.1109\/70.258056","volume":"9","author":"G Hirzinger","year":"1993","unstructured":"Hirzinger, G., Brunner, B., Dietrich, J., Heindl, J.: Sensor-based space robotics \u2013 ROTEX and its telerobotic features. IEEE Trans. Robot. Autom. 9(5), 649\u2013663 (1993)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"396_CR4","doi-asserted-by":"crossref","unstructured":"Oda, M.: Summary of NASDA\u2019s ETS-VII robot satellite mission. J. Robot. Mechatron. 12(4) (2000)","DOI":"10.20965\/jrm.2000.p0417"},{"key":"396_CR5","unstructured":"Ogilvie, A., Allport, J., Hannah, M., Lymer, J.: Autonomous satellite servicing using the orbital express demonstration manipulator system. In: Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS\u20192008), Los Angeles (2008)"},{"key":"396_CR6","unstructured":"Reintsema, D., Thaeterm, J., Rathke, A., Naumann, W., Rank, P., Sommer, J.: DEOS \u2013 The German robotics approach to secure and de-orbit malfunctioned satellites from low earth orbits, Sapporo (2010)"},{"key":"396_CR7","unstructured":"Olmos, D.O., Peters, T.V., Naude, J., Chitu, C., Seweryn, K., Barcinski, T.: AnDROiD, small mission for active debris removal. In: Proceedings of the 4S Symposium, Porto Petro (2014)"},{"issue":"5-6","key":"396_CR8","doi-asserted-by":"publisher","first-page":"648","DOI":"10.1016\/j.actaastro.2009.08.005","volume":"166","author":"J-C Liou","year":"2010","unstructured":"Liou, J.-C., Johnson, N.L., Hill, N.M.: Controlling the growth of future LEO debris populations with active debris removal. Acta Astronaut. 166(5-6), 648\u2013653 (2010)","journal-title":"Acta Astronaut."},{"key":"396_CR9","unstructured":"Hausmann, G., Wieser, M., Haarmann, R., Brito, A., Meyer, J.C., et al.: E.Deorbit mission: OHB debris removal concepts. In: Proceeding of the 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA\u20192015), Noordwijk (2015)"},{"issue":"3","key":"396_CR10","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1515\/meceng-2015-0022","volume":"62","author":"K Seweryn","year":"2015","unstructured":"Seweryn, K., Grassmann, K., Rutkowski, K., Rybus, T., Wawrzaszek, R.: Design and development of two manipulators as a key element of a space robot testing facility. Arch. Mech. Eng. 62 (3), 377\u2013394 (2015)","journal-title":"Arch. Mech. Eng."},{"key":"396_CR11","unstructured":"Rybus, T., Barcinski, T., Lisowski, J., Nicolau-Kukli\u0144ski, J., Seweryn, K., et al.: New planar air-bearing microgravity simulator for verification of space robotics numerical simulations and control algorithms. In: Proceedings of the 12th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2013). ESTEC, Noordwijk (2013)"},{"issue":"5","key":"396_CR12","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1109\/70.258046","volume":"9","author":"S Dubowsky","year":"1993","unstructured":"Dubowsky, S., Papadopoulos, E.: The kinematics, dynamics, and control of free-flying and free-floating space robotic systems. IEEE Trans. Robot. Autom. 9(5), 531\u2013543 (1993)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"396_CR13","doi-asserted-by":"crossref","unstructured":"Longman, R.W., Lindberg, R.E., Zadd, M.F.: Satellite-mounted robot manipulators: new kinematics and reaction moment compensation. Int. J. Robot. Res. 6(3) (1987)","DOI":"10.1177\/027836498700600306"},{"issue":"3","key":"396_CR14","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1109\/70.34766","volume":"5","author":"Y Umetani","year":"1989","unstructured":"Umetani, Y., Yoshida, K.: Resolved motion rate control of space manipulators with generalized jacobian matrix. IEEE Trans. Robot. Autom. 5(3), 303\u2013314 (1989)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"396_CR15","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1016\/0921-8890(93)90006-X","volume":"11","author":"AM Strauss","year":"1993","unstructured":"Strauss, A.M., Parlaktuna, O., Cook, G.E.: Jacobian control for space manipulator. Robot. Auton. Syst. 11(1), 35\u201344 (1993)","journal-title":"Robot. Auton. Syst."},{"key":"396_CR16","doi-asserted-by":"crossref","unstructured":"Seweryn, K., Banaszkiewicz, M.: Optimization of the trajectory of a general free-flying manipulator during the rendezvous maneuver. In: Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC\u20192008), Honolulu (2008)","DOI":"10.2514\/6.2008-7273"},{"key":"396_CR17","doi-asserted-by":"crossref","unstructured":"Vafa, Z., Dubowsky, S.: The kinematic and dynamics of space manipulator: The virtual manipulator approach. Int. J. Robot. Res. 9(4) (1989)","DOI":"10.1177\/027836499000900401"},{"issue":"1","key":"396_CR18","doi-asserted-by":"publisher","first-page":"25","DOI":"10.2514\/1.54083","volume":"35","author":"S Ulrich","year":"2012","unstructured":"Ulrich, S., Sasiadek, J., Barkana, I.: Modeling and direct adaptive control of a flexible-joint manipulator. J. Guid. Control. Dynam. 35(1), 25\u201339 (2012)","journal-title":"J. Guid. Control. Dynam."},{"issue":"3","key":"396_CR19","doi-asserted-by":"publisher","first-page":"185","DOI":"10.1016\/j.robot.2003.11.007","volume":"46","author":"O Parlaktuna","year":"2004","unstructured":"Parlaktuna, O., Ozkan, M.: Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model. Robot. Auton. Syst. 46(3), 185\u2013193 (2004)","journal-title":"Robot. Auton. Syst."},{"key":"396_CR20","doi-asserted-by":"publisher","first-page":"395","DOI":"10.1016\/j.conengprac.2010.12.011","volume":"19","author":"TFPAT Pazelli","year":"2011","unstructured":"Pazelli, T.F.P.A.T., Terra, M.H., Siqueira, A.A.G.: Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator. Control. Eng. Pract. 19, 395\u2013408 (2011)","journal-title":"Control. Eng. Pract."},{"issue":"2","key":"396_CR21","doi-asserted-by":"publisher","first-page":"343","DOI":"10.1109\/JSYST.2012.2220171","volume":"8","author":"Z Chu","year":"2014","unstructured":"Chu, Z., Cui, J., Sun, F.: Fuzzy adaptive disturbance-observer-based robust tracking control of electrically driven free-floating space manipulator. IEEE Syst. J. 8(2), 343\u2013352 (2014)","journal-title":"IEEE Syst. J."},{"issue":"4","key":"396_CR22","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1007\/s10846-011-9632-y","volume":"66","author":"H Wang","year":"2012","unstructured":"Wang, H., Xie, Y.: On the recursive adaptive control for free-floating space manipulators. J. Intell. Robot. Syst. 66(4), 443\u2013461 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"396_CR23","doi-asserted-by":"crossref","unstructured":"Zhang, F., Fu, Y., Qu, J., Wang, S.: Robust adaptive control of a free-floating space robot system in Cartesian space. Int. J. Adv. Robot. Syst. 12 (2015)","DOI":"10.5772\/61743"},{"key":"396_CR24","doi-asserted-by":"publisher","first-page":"146","DOI":"10.1016\/j.actaastro.2014.12.002","volume":"108","author":"XY Yu","year":"2015","unstructured":"Yu, X.Y., Chen, L.: Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators. Acta Astronaut. 108, 146\u2013155 (2015)","journal-title":"Acta Astronaut."},{"key":"396_CR25","doi-asserted-by":"crossref","unstructured":"Aghili, F.: Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite. In: Proceedings of the 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, St. Louis (2009)","DOI":"10.1109\/IROS.2009.5353968"},{"key":"396_CR26","doi-asserted-by":"crossref","unstructured":"Barcinski, T., Lisowski, J., Rybus, T., Seweryn, K.: Controlled zero dynamics feedback linearization with application to free-floating redundant orbital manipulator. In: Proceedings of the 2013 IEEE American Control Conference, Washington (2013)","DOI":"10.1109\/ACC.2013.6580102"},{"issue":"10","key":"396_CR27","doi-asserted-by":"publisher","first-page":"1353","DOI":"10.1016\/j.robot.2014.04.004","volume":"62","author":"E Jarzebowska","year":"2014","unstructured":"Jarzebowska, E., Pietrak, K.: Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system. Robot. Auton. Syst. 62(10), 1353\u20131360 (2014)","journal-title":"Robot. Auton. Syst."},{"key":"396_CR28","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.paerosci.2014.03.002","volume":"68","author":"A Flores-Abad","year":"2014","unstructured":"Flores-Abad, A., Ma, O., Pham, K., Ulrich, S.: A review of space robotics technologies for on-orbit servicing. Prog. Aerosp. Sci. 68, 1\u201326 (2014)","journal-title":"Prog. Aerosp. Sci."},{"key":"396_CR29","doi-asserted-by":"crossref","unstructured":"Papadopoulos, E.: Nonholonomic behavior in free-floating space manipulators and its utilization. In: Li, Z., Canny, J.F (eds.) Motion Planning, pp 423\u2013445. Kluwer, Boston (1993)","DOI":"10.1007\/978-1-4615-3176-0_11"},{"key":"396_CR30","unstructured":"Papadopoulos, E., Tortopidis, I., Nanos, K.: Smooth planning for free-floating space robots using polynomials. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA\u20192005), Barcelona (2005)"},{"key":"396_CR31","doi-asserted-by":"crossref","unstructured":"Rybus, T., Seweryn, K.: Application of rapidly-exploring random trees (RRT) algorithm for trajectory planning of free-floating space manipulator. In: Proceedings of the 10th International Workshop on Robot Motion and Control (RoMoCo\u20192015), Pozna\u0144 (2015)","DOI":"10.1109\/RoMoCo.2015.7219719"},{"key":"396_CR32","doi-asserted-by":"crossref","unstructured":"Rybus, T., Barcinski, T., Lisowski, J., Seweryn, K., Nicolau-Kukli\u0144ski, J., et al.: Experimental demonstration of singularity avoidance with trajectories based on the B\u00e9zier curves for free-floating manipulator. In: Proceedings of the 9th International Workshop on Robot Motion and Control (RoMoCo\u20192013), W\u0105sowo (2013)","DOI":"10.1109\/RoMoCo.2013.6614599"},{"issue":"3","key":"396_CR33","doi-asserted-by":"publisher","first-page":"2305","DOI":"10.1109\/TAES.2015.140343","volume":"51","author":"K Nanos","year":"2015","unstructured":"Nanos, K., Papadopoulos, E.: Avoiding dynamic singularities in Cartesian motions of free-floating manipulators. IEEE Trans. Aerosp. Electron. Syst. 51(3), 2305\u20132318 (2015)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"396_CR34","doi-asserted-by":"crossref","unstructured":"Chen, G., Zhang, L., Jia, Q., Chu, M., Sun, H.: Repetitive motion planning of free-floating space manipulators. Int. J. Adv. Robot. Syst. 10 (2013)","DOI":"10.5772\/56402"},{"key":"396_CR35","doi-asserted-by":"crossref","unstructured":"Aghili, F.: Optimal control for robotic capturing and passivation of a tumbling satellite with unknown dynamics. In: Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC\u20192008), Honolulu (2008)","DOI":"10.2514\/6.2008-7274"},{"issue":"6","key":"396_CR36","doi-asserted-by":"publisher","first-page":"2014","DOI":"10.2514\/1.G000003","volume":"37","author":"A Flores-Abad","year":"2014","unstructured":"Flores-Abad, A., Wei, Z., Ma, O., Pham, K.: Optimal control of space robots for capturing a tumbling object with uncertainties. J. Guid. Control. Dynam. 37(6), 2014\u20132017 (2014)","journal-title":"J. Guid. Control. Dynam."},{"key":"396_CR37","doi-asserted-by":"publisher","first-page":"77","DOI":"10.1016\/j.actaastro.2015.03.008","volume":"112","author":"M Wang","year":"2015","unstructured":"Wang, M., Luo, J., Walter, U.: Trajectory planning of free-floating space robot using particle swarm optimization (PSO). Acta Astronaut. 112, 77\u201388 (2015)","journal-title":"Acta Astronaut."},{"key":"396_CR38","doi-asserted-by":"crossref","unstructured":"Rybus, T., Seweryn, K., Sasiadek, J.Z.: Trajectory optimization of space manipulator with non-zero angular momentum during orbital capture maneuver. In: Proceedeings of the AIAA Guidance, Navigation, and Control Conference (AIAA-GNC\u20192016), San Diego (2016)","DOI":"10.2514\/6.2016-0885"},{"key":"396_CR39","unstructured":"Rybus, T., Seweryn, K., Sasiadek, J.Z.: Nonlinear model predictive control (NMPC) for free-floating space manipulator. In: Sasiadek, J.Z. (ed.) Aerospace Robotics III, GeoPlanet: Earth and Planetary Sciences. (in press). Springer-Verlag (2016)"},{"key":"396_CR40","doi-asserted-by":"crossref","unstructured":"Lindberg, R.E., Longman, R.W., Zedd, M.F.: Kinematic and dynamic properties of an elbow manipulator mounted on a satellite. In: Space Robotics: Dynamics and Control. Springer, USA (1993)","DOI":"10.1007\/978-1-4615-3588-1_1"},{"issue":"1","key":"396_CR41","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s11370-010-0083-2","volume":"4","author":"K Nanos","year":"2011","unstructured":"Nanos, K., Papadopoulos, E.: On the use of free-floating space robots in the presence of angular momentum. Intel. Serv. Robot. 4(1), 3\u201315 (2011)","journal-title":"Intel. Serv. Robot."},{"issue":"3","key":"396_CR42","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1007\/BF03546405","volume":"45","author":"JL Junkins","year":"1997","unstructured":"Junkins, J.L., Schaub, H.: An instantaneous eigenstructure quasivelocity formulation for nonlinear multibody dynamics. J. Astronaut. Sci. 45(3), 279\u2013295 (1997)","journal-title":"J. Astronaut. Sci."},{"key":"396_CR43","doi-asserted-by":"crossref","unstructured":"Yazdkhasti, S., Ulrich, S., Sasiadek, J.Z.: Laboratory experimentation of stereo vision-based relative navigation with unknown spinning spacecraft. In: Proceedings of the 20th International Conference on Methods and Models in Automation and Control (MMAR\u20192015), Miedzyzdroje (2015)","DOI":"10.1109\/MMAR.2015.7283868"},{"key":"396_CR44","unstructured":"Kelsey, J.M., Byrne, J., Cosgrove, M., Seereeram, S., Mehra, R.K.: Vision-based relative pose estimation for autonomous rendezvous and docking. In: Proceedings of the 2006 IEEE Aerospace conference. Big Sky, USA (2006)"},{"key":"396_CR45","doi-asserted-by":"crossref","unstructured":"Dimitrov, D., Yoshida, K.: Utilization of holonomic distribution control for reactionless path planning. In: Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing (2006)","DOI":"10.1109\/IROS.2006.282574"},{"key":"396_CR46","unstructured":"Kaigom, E.G., Jung, T.J., Ro\u00dfmann, J.: Constrained PSO based optimal motion planning of a space robot with base disturbance minimization. In: Proceedings of the 11th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA\u20192011), ESTEC, Noordwijk (2011)"},{"key":"396_CR47","doi-asserted-by":"crossref","unstructured":"Shah, S.V., Gattupalli, A., Misra, A.K.: Energy optimum reactionless path planning for capture of tumbling orbiting objects using a dual-arm robot. In: Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM\u20192013). IIT Roorkee, India (2013)","DOI":"10.2514\/6.2013-4521"},{"key":"396_CR48","doi-asserted-by":"crossref","unstructured":"Rybus, T., Seweryn, K.: Trajectory planning and simulations of the manipulator mounted on a free-floating satellite. In: Sasiadek, J.Z. (ed.) Aerospace Robotics, GeoPlanet: Earth and Planetary Sciences. Springer-Verlag (2013)","DOI":"10.1007\/978-3-642-34020-8_6"},{"key":"396_CR49","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-398-5","volume-title":"Model Predictive Control","author":"EF Camacho","year":"2007","unstructured":"Camacho, E.F., Bordons, C.: Model Predictive Control, 2nd edn. Springer-Verlag, London (2007)","edition":"2nd edn"},{"issue":"16","key":"396_CR50","doi-asserted-by":"publisher","first-page":"1438","DOI":"10.1080\/00207170412331317738","volume":"77","author":"B Kim","year":"2004","unstructured":"Kim, B., Necsulescu, D., Sasiadek, J.Z.: Autonomous mobile robot model predictive control. Int. J. Control 77(16), 1438\u20131445 (2004)","journal-title":"Int. J. Control"},{"issue":"6","key":"396_CR51","doi-asserted-by":"publisher","first-page":"460","DOI":"10.1016\/j.robot.2007.01.002","volume":"55","author":"G Klan\u010dar","year":"2007","unstructured":"Klan\u010dar, G., \u0160krjanc, I.: Tracking-error model-based predictive control for mobile robots in real time. Robot. Auton. Syst. 55(6), 460\u2013469 (2007)","journal-title":"Robot. Auton. Syst."},{"key":"396_CR52","unstructured":"Ozsoy, C., Kazan, R.: Cartesian base predictive control of robotic manipulators. In: Proceedings of the 1993 IEEE International Symposium on Industrial Electronics, Budapest (1993)"},{"key":"396_CR53","doi-asserted-by":"crossref","unstructured":"Bhatia, V, Ganesh Ram, R. K, Kalaichelvi, V, Karthikeyan, R: Application of Model Predictive Controller for 2-DOF robot manipulator. In: Proceedings of the IEEE 10th International Symposium on Mechatronics and its Applications (ISMA), Sharjah, United Arab Emirates, Nagoya (2015)","DOI":"10.1109\/ISMA.2015.7373478"},{"key":"396_CR54","doi-asserted-by":"crossref","unstructured":"Becerra, V.M., Cook, S., Deng, J.: Predictive computed-torque control of a PUMA 560 manipulator robot. In: Proceedings of the 16th IFAC world congress, Prague (2005)","DOI":"10.3182\/20050703-6-CZ-1902.01308"},{"key":"396_CR55","unstructured":"Valle, F., Tadeo, F., Alvarez, T.: Predictive control of robotic manipulators. In: Proceedings of the 2002 IEEE International Conference on Control Applications, Glasgow (2002)"},{"key":"396_CR56","doi-asserted-by":"crossref","unstructured":"Poignet, P., Gautier, M.: Nonlinear model predictive control of a robotic manipulator. In: Proceedings of the 6th International Workshop on Advanced Motion Control, Nagoya (2000)","DOI":"10.1109\/AMC.2000.862901"},{"key":"396_CR57","unstructured":"Torres, S., M\u00e9ndez, J., Acosta, L., Sigut, M., Marichal, G.N., Moreno, L.: A predictive control algorithm with interpolation for a robot manipulator with constraints. In: Proceedings of the 2001 IEEE International Conference on Control Applications, Mexico (2001)"},{"key":"396_CR58","doi-asserted-by":"crossref","unstructured":"Hazry, D., Sugisaka, M.: Predictive nonlinear control method for a mobile robot with nonholonomic constraints. In: Proceedings of the International Conference on Man Machine Systems, Langkawi (2006)","DOI":"10.3844\/ajassp.2006.1803.1809"},{"issue":"6","key":"396_CR59","doi-asserted-by":"publisher","first-page":"699","DOI":"10.1109\/TMECH.2006.886246","volume":"11","author":"R McCourt","year":"2006","unstructured":"McCourt, R., De Silva, C.W.: Autonomous robotic capture of a satellite using constrained predictive control. IEEE\/ASME Trans. Mechatron. 11(6), 699\u2013708 (2006)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"3","key":"396_CR60","doi-asserted-by":"publisher","first-page":"298","DOI":"10.1002\/oca.939","volume":"32","author":"B Houska","year":"2011","unstructured":"Houska, B., Ferreau, H.J., Diehl, M.: ACADO toolkit\u2013An open-source framework for automatic control and dynamic optimization. Optim. Contr. Appl. Met. 32(3), 298\u2013312 (2011)","journal-title":"Optim. Contr. Appl. Met."},{"key":"396_CR61","unstructured":"Houska, B., Ferreau, H.J., Vukov, M., Quirynen, R.: ACADO Toolkit User\u2019s Manual (2013)"},{"issue":"2","key":"396_CR62","doi-asserted-by":"publisher","first-page":"404","DOI":"10.2514\/1.57856","volume":"36","author":"TC Nguyen-Huynh","year":"2013","unstructured":"Nguyen-Huynh, T.C., Sharf, I.: Adaptive reactionless motion and parameter identification in postcapture of space debris. J. Guid. Control. Dyn. 36(2), 404\u2013414 (2013)","journal-title":"J. Guid. Control. Dyn."},{"issue":"4","key":"396_CR63","doi-asserted-by":"publisher","first-page":"3207","DOI":"10.1109\/TAES.2012.6324694","volume":"48","author":"H Wang","year":"2012","unstructured":"Wang, H., Xie, Y.: Prediction error based adaptive jacobian tracking for free-floating space manipulators. IEEE Trans. Aerosp. Electron. Syst. 48(4), 3207\u20133221 (2012)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"9","key":"396_CR64","doi-asserted-by":"publisher","first-page":"1194","DOI":"10.1177\/0278364910375140","volume":"30","author":"P Boning","year":"2011","unstructured":"Boning, P., Dubowsky, S.: A kinematic approach to determining the optimal actuator sensor architecture for space robots. Int. J. Robot. Res. 30(9), 1194\u20131204 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"396_CR65","unstructured":"Rybus, T., Seweryn, K.: Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator. In: Proceedings of the 6th European Conference for Aeronautics and Space Sciences (EUCASS\u20192015), Krak\u00f3w (2015)"},{"key":"396_CR66","doi-asserted-by":"crossref","unstructured":"Rybus, T., Barcinski, T., Lisowski, J., Seweryn, K.: Analyses of a free-floating manipulator control scheme based on the fixed-base Jacobian with spacecraft velocity feedback. In: Sasiadek, J.Z. (ed.) Aerospace Robotics II, GeoPlanet: Earth and Planetary Sciences, pp 59\u201369. Springer-Verlag (2015)","DOI":"10.1007\/978-3-319-13853-4_6"},{"key":"396_CR67","doi-asserted-by":"crossref","unstructured":"Ulrich, S., Sasiadek, J.: Modified simple adaptive control for a two-link space robot. In: Proceedings of the 2010 IEEE American Control Conference, Baltimore (2010)","DOI":"10.1109\/ACC.2010.5530518"},{"key":"396_CR68","doi-asserted-by":"crossref","unstructured":"Rybus, T., Lisowski, J., Seweryn, K., Barcinski, T.: Numerical simulations and analytical analysis of the orbital capture maneouvre as a part of the manipulator-equipped servicing satellite design. In: Proceedings of the 17th International Conference on Methods and Models in Automation and Control (MMAR\u20192012), Miedzyzdroje (2012)","DOI":"10.1109\/MMAR.2012.6347926"},{"key":"396_CR69","doi-asserted-by":"crossref","unstructured":"Ulrich, S., Sasiadek, J.Z.: Direct model reference adaptive control of a flexible joint robot. In: Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC\u20192010), Toronto (2010)","DOI":"10.2514\/6.2010-7844"},{"issue":"9\u201310","key":"396_CR70","doi-asserted-by":"publisher","first-page":"579","DOI":"10.1007\/s00419-006-0021-0","volume":"76","author":"P Herman","year":"2006","unstructured":"Herman, P., Koz\u0142owski, K.: A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators. Arch. Appl. Mech. 76(9\u201310), 579\u2013614 (2006)","journal-title":"Arch. Appl. Mech."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0396-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0396-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0396-2","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0396-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,7,2]],"date-time":"2022-07-02T21:26:53Z","timestamp":1656797213000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0396-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,7,8]]},"references-count":70,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2017,3]]}},"alternative-id":["396"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0396-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,7,8]]},"assertion":[{"value":"15 December 2015","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 April 2016","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 July 2016","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}