TERMIUM Plus^®

Record 1,  Textual support,  English

Record number: 1, Textual support number: 1 CONT

The motion of free-floating space robots is characterized by non-holonomic constraints, i.e., non-integrable rate constraint equations. These constraints originate from the principles of conservation of angular momentum. It is well known that these rate constraints can also be written to form an input-affine drift-less control system. Trajectory planning of these systems is extremely challenging and computation intensive since the motion must satisfy differential constraints. Under certain conditions, these drift-less control systems can be shown to be differentially flat.  1, record 1, English, - free%2Dfloating%20space%20robot

Record number: 1, Textual support number: 2 CONT

To date, most of the research on the control of space robots has centered on "free-floating" robots. Free-floating robots are defined as space robots where the satellite base position and orientation are unactuated. Without base actuation, no external forces or torques act upon the system when the end-effector is not in contact with the work environment. The linear and angular momenta of the system are conserved, so the spacecraft base moves in reaction to commanded arm motion.  2, record 1, English, - free%2Dfloating%20space%20robot

Record number: 1, Textual support number: 1 OBS

free-floating space robot; free-floating robot : designations validated by a Canadian subject-matter expert from Polytechnique Montréal.  3, record 1, English, - free%2Dfloating%20space%20robot

Record 1,  Textual support,  French

Record number: 1, Textual support number: 1 OBS

robot spatial flottant librement : désignation validée par un spécialiste canadien de Polytechnique Montréal.  1, record 1, French, - robot%20spatial%20flottant%20librement

Record 1,  Textual support,  Spanish

Record number: 1, Textual support number: 1 CONT

Los robots espaciales utilizados en órbita pueden ser de dos tipos básicamente, los robots de vuelo libre[,] cuya posición de la base se puede controlar y mover libremente[,] y los robots flotantes[,] en los cuales no se puede controlar la posición de la base.  1, record 1, Spanish, - robot%20flotante

Record 2,  Textual support,  English

Record number: 2, Textual support number: 1 CONT

Some papers selected single-arm space robots as actuators to touch and capture the target spacecraft in space. The in-orbit screw-driving manipulation by a single-arm space robot... can cause the rotation and translation of the target spacecraft. Since the target is a free-floating spacecraft that is not a fixed object on the ground, the target will have reactive translational motion and rotation when external forces and torques are applied to the target spacecraft during the screwdriving process. However, the translation and rotation of the target spacecraft can influence the control accuracy of the space robot, which may lead to failures during the screw-driving process. Unlike single-arm space robots, dual-arm space robots can use the cooperation of the two arms to accomplish more complicated space tasks effectively. Therefore, dual-arm space robots can be introduced to carry out the in-orbit screw-driving operation by the mission arm and maintain the position and attitude of the target spacecraft by the other arm.  1, record 2, English, - single%2Darm%20space%20robot

Record number: 2, Textual support number: 1 OBS

single-arm space robot: designation validated by Canadian subject-matter experts from Polytechnique Montréal and the Canadian Space Agency.  2, record 2, English, - single%2Darm%20space%20robot

Record 2,  Textual support,  French

Record number: 2, Textual support number: 1 OBS

robot spatial à un bras : désignation validée par des spécialistes canadiens de Polytechnique Montréal et de l'Agence spatiale canadienne.  1, record 2, French, - robot%20spatial%20%C3%A0%20un%20bras

Record 2,  Textual support,  Spanish