{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T16:08:54Z","timestamp":1774368534431,"version":"3.50.1"},"reference-count":37,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2009,6,26]],"date-time":"2009-06-26T00:00:00Z","timestamp":1245974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,7]]},"abstract":"<jats:p> This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system as a consequence of external applied forces is the same as any other free-floating rigid-body (with different inertial properties). This allows 0-g emulation of a scaled spacecraft prototype under the test in a 1-g laboratory environment. The controller consisting of motion feedback and force\/moment feedback adjusts the motion of the test spacecraft so as to match that of the flight spacecraft, even if the latter has flexible appendages (such as solar panels) and the former is rigid. The stability of the overall system is analytically investigated, and the results show that the system remains stable provided that the inertial properties of two spacecraft are different and that an upperbound on the norm of the inertia ratio of the payload to the manipulator is respected. Important practical issues such as calibration and sensitivity analysis to sensor noise and quantization are also presented. Finally, experimental results obtained from a robotic setup for spacecraft emulation with a milli-gravity accuracy are presented. <\/jats:p>","DOI":"10.1177\/0278364908099464","type":"journal-article","created":{"date-parts":[[2009,6,26]],"date-time":"2009-06-26T15:28:27Z","timestamp":1246030107000},"page":"883-894","source":"Crossref","is-referenced-by-count":25,"title":["Scaling Inertia Properties of a Manipulator Payload for 0-<i>g<\/i> Emulation of Spacecraft"],"prefix":"10.1177","volume":"28","author":[{"given":"Farhad","family":"Aghili","sequence":"first","affiliation":[{"name":"Canadian Space Agency, Saint-Hubert Quebec, Canada, J3Y 8Y9,"}]},{"given":"Mehrzad","family":"Namvar","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering Sharif University of Technology PO Box 11365-8639, Tehran"}]}],"member":"179","published-online":{"date-parts":[[2009,6,26]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the IEEE International Conference on Robotics & Automation","author":"Aghili, F."},{"key":"atypb2","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Akima, T."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/100.540146"},{"key":"atypb4","volume-title":"Multi-Axis Force\/Torque Sensor, 2007 Catalog","author":"ATI","year":"2007"},{"key":"atypb5","first-page":"64","author":"Bachofer, B.","year":"1964","journal-title":"AIAA paper"},{"key":"atypb6","volume-title":"Proceedings of the IEEE Conference on Decision and Control","author":"Bacic, M."},{"key":"atypb7","volume-title":"Theory of Robot Control","author":"Canudas de Wit, C.","year":"1996"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)0893-1321(1999)12:2(74)"},{"key":"atypb9","first-page":"99","author":"Colebank, J.E.","year":"1999","journal-title":"AIAA Paper"},{"issue":"3","key":"atypb10","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1002\/j.2161-4296.1998.tb02382.x","volume":"45","author":"Corrazzini, T.","year":"1996","journal-title":"Navigation: Journal of the Institute of Navigation"},{"key":"atypb11","volume-title":"Proceedings of the ASME Conference DE-Vol. 72","author":"Dubowsky, S."},{"key":"atypb12","volume-title":"Proceedings of the IEEE International Conference on Robotics & Automation","author":"Gopalswamy, A."},{"key":"atypb13","volume-title":"Space Vehicle Design","author":"Griffin, M.D.","year":"1991"},{"key":"atypb14","volume-title":"Proccedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space","author":"Kawamoto, S."},{"key":"atypb15","volume-title":"Nonlinear Systems","author":"Khalil, H.K.","year":"1992"},{"key":"atypb16","volume-title":"Proceedings of the Fifth International Symposium on Artificial Intelligence, Robotics & Automation in Space i-SAIRAS 1999","author":"Krenn, R."},{"key":"atypb17","volume-title":"DSP Blockset for Use with Simulink, User's Guide","author":"Mat","year":"1998"},{"key":"atypb18","volume-title":"Real-Time Workshop for Use with Simulink","author":"Mat","year":"2002","edition":"5"},{"key":"atypb19","volume-title":"Proceedings of the IEEE RSJ International Conference on Intelligent Robots and Systems","author":"Matunaga, S."},{"key":"atypb20","volume-title":"Proceedings of the AAS\/AIAA Space Flight Mechanics Meeting","author":"Miller, D."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1115\/1.1636777"},{"key":"atypb22","volume-title":"Proceedings of the 4th ESA International Conference On Spacecraft Guidance","author":"Ng, A.C."},{"key":"atypb23","unstructured":"Peck, M.A. et al. 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