Wiki Index

Catalog of every live page, grouped by type. Atticked pages live under _attic/ and are intentionally omitted. Read this first when answering a query.

Sources (46)

• akella2024risk — Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification (2024)
• alali2024reinforcement — Reinforcement Learning for Path Planning of Free-Floating Space Robotic Manipulator with Collision Avoidance and Observation Noise (2024)
• bruschi2025singularity — Singularity-Free Task-Priority Design for Trajectory Tracking in Space Robots (2025)
• caccavale2001kinematic — Kinematic Control of Redundant Free-Floating Robotic Systems (2001)
• calzolari2020singularity — Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning (2020)
• chiaverini1994review — Review of the Damped Least-Squares Inverse Kinematics with Experiments on an Industrial Robot Manipulator (1994)
• chiaverini1997singularity — Singularity-Robust Task-Priority Redundancy Resolution for Real-Time Kinematic Control of Robot Manipulators (1997)
• dai2022review — A Review of Spatial Robotic Arm Trajectory Planning (2022)
• dambrosio2024redundant — Redundant Space Manipulator Autonomous Guidance for In-Orbit Servicing via Deep Reinforcement Learning (2024)
• das2025understanding — Understanding and Utilizing Dynamic Coupling in Free-Floating Space Manipulators for On-Orbit Servicing (2025)
• dixit2023risk — Risk-averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk Measures (2023)
• ekal2021online — Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers (2021)
• ellery2004engineering — An engineering approach to the dynamic control of space robotic on-orbit servicers (2004)
• giordano2018workspace — Workspace fixation for free-floating space robot operations (2018)
• giordano2019coordinated — Coordinated Control of Spacecraft’s Attitude and End-Effector for Space Robots (2019)
• giordano2020coordination — Coordination of thrusters, reaction wheels, and arm in orbital robots (2020)
• holt1992inertial — Inertial-Space Disturbance Rejection for Space-Based Manipulators (1992)
• holt1994inertial — Inertial-Space Disturbance Rejection for Space-Based Manipulators (1994)
• jin2017reaction — Reaction Torque Control of Redundant Free-floating Space Robot (2017)
• khatib1987unified — A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation (1987)
• khatib1995inertial — Inertial Properties in Robotic Manipulation: An Object-Level Framework (1995)
• majumdar2017how — How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics (2017)
• misra2017optimal — Optimal Path Planning for Free-Flying Space Manipulators via Sequential Convex Programming (2017)
• nanos2011use — On the use of free-floating space robots in the presence of angular momentum (2011)
• nanos2015avoiding — Avoiding Dynamic Singularities in Cartesian Motions of Free-Floating Manipulators (2015)
• nenchev2013reaction — Reaction Null Space of a multibody system with applications in robotics (2013)
• ott2008cartesian — Cartesian Impedance Control of Redundant and Flexible-Joint Robots — Ch. 3: The Rigid Body Case (2008)
• panteley1998global — On Global Uniform Asymptotic Stability of Nonlinear Time-varying Systems in Cascade (1998)
• panteley2001growth — Growth rate conditions for uniform asymptotic stability of cascaded time-varying systems (2001)
• papadopoulos1993dynamic — Dynamic Singularities in Free-Floating Space Manipulators (1993)
• ren2022chance — Chance-Constrained Trajectory Planning under Gaussian Mixture Model Uncertainty (2022)
• rutkovskii2023control — Control of a Free-Flying Space Manipulation Robot with a Payload (2023)
• rybus2017control — Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC) (2017)
• sentis2005control — Control of Free-Floating Humanoid Robots Through Task Prioritization (2005)
• seweryn2008optimization — Optimization of the Trajectory of a General Free-Flying Manipulator During the Rendezvous Maneuver (2008)
• siciliano1990tutorial — Kinematic Control of Redundant Robot Manipulators: A Tutorial (1990)
• sone2016reactionless — Reactionless camera inspection with a free-flying space robot under reaction null-space motion control (2016)
• sukhanov2015dynamic — Dynamic Equations of Free-flying Space Robot for Feedback Control Tasks (2015)
• umetani1989resolved — Resolved Motion Rate Control of Space Robotic Manipulators with Generalized Jacobian Matrix (1989)
• virgili-llop2016spacecraft — Spacecraft Robotics Toolkit: An Open-Source Simulator for Spacecraft Robotic Arm Dynamic Modeling and Control (2016)
• virgili-llop2019convex — A convex-programming-based guidance algorithm to capture a tumbling object on orbit using a spacecraft equipped with a robotic manipulator (2019)
• wilde2018equations — Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer’s Tutorial (2018)
• yao2021adaptive — Adaptive trajectory tracking control of a free-flying space manipulator with guaranteed prescribed performance and actuator saturation (2021)
• ye2019research — Research on Adaptive Reaction Null Space Planning and Control Strategy Based on VFF-RLS and SSADE-ELM Algorithm for Free-Floating Space Robot (2019)
• zhang2020adaptive — Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique (2020)
• zheng2024informed — IBBT: Informed Batch Belief Trees for Motion Planning Under Uncertainty (2024)

Topics (94)

• actuator_saturation — Actuator Saturation
• algorithmic_singularity — Algorithmic Singularity
• angular_momentum_conservation — Angular Momentum Conservation
• augmented_object_model — Augmented Object Model
• barrier_lyapunov_function — Barrier Lyapunov Function
• base_disturbance_minimization — Base Disturbance Minimization
• base_disturbance_rejection — Base Disturbance Rejection
• cartesian_impedance_control — Cartesian Impedance Control
• cartesian_path_planning — Cartesian Path Planning
• cascaded_systems — Cascaded Systems
• center_of_mass_jacobian — Center Of Mass Jacobian
• center_of_mass_regulation — Center Of Mass Regulation
• chance_constraints — Chance Constraints
• circumcentroidal_motion — Circumcentroidal Motion
• closed_loop_inverse_kinematics — Closed Loop Inverse Kinematics
• coherent_risk_measures — Coherent Risk Measures
• coherent_risk_metrics — Coherent Risk Metrics
• conditional_value_at_risk — Conditional Value At Risk
• configuration_dependent_stability_domain — Configuration Dependent Stability Domain
• control_barrier_functions — Control Barrier Functions
• coordinated_base_manipulator_control — Coordinated Base Manipulator Control
• coordinated_control — Coordinated Control
• coupling_inertia_matrix — Coupling Inertia Matrix
• covariance_propagation — Covariance Propagation
• d_optimality — D Optimality
• damped_least_squares — Damped Least Squares
• denoc_formulation — Denoc Formulation
• distortion_risk_metrics — Distortion Risk Metrics
• dynamic_coupling — Dynamic Coupling
• dynamic_singularity — Dynamic Singularity
• dynamically_consistent_inverse — Dynamically Consistent Inverse
• entropic_value_at_risk — Entropic Value-at-Risk
• exponential_coordinates — Exponential Coordinates
• extended_kalman_filter — Extended Kalman Filter
• feedback_linearization — Feedback Linearization
• ffsm_dynamics — FFSM Dynamics
• fisher_information_matrix — Fisher Information Matrix
• free_floating_dynamics — Free Floating Dynamics
• free_flying_vs_free_floating — Free-Flying vs Free-Floating Space Manipulators
• gaussian_mixture_model — Gaussian Mixture Model
• generalized_inertia_matrix — Generalized Inertia Matrix
• generalized_jacobian — Generalized Jacobian
• high_gain_observer — High Gain Observer
• inertial_parameter_identification — Inertial Parameter Identification
• inertial_space_tracking — Inertial Space Tracking
• input_to_state_stability — Input To State Stability
• internal_velocity — Internal Velocity
• interval_arithmetic — Interval Arithmetic
• keep_out_zone — Keep Out Zone
• kinematic_redundancy — Kinematic Redundancy
• kinematic_redundancy_resolution — Kinematic Redundancy Resolution
• kinematic_singularity — Kinematic Singularity
• lyapunov_stability — Lyapunov Stability
• macro_mini_manipulation — Macro Mini Manipulation
• manipulability_measure — Manipulability Measure
• model_predictive_control — Model Predictive Control
• moment_concentration_bound — Moment Concentration Bound
• momentum_conservation — Momentum Conservation
• momentum_dumping — Momentum Dumping
• momentum_exchange_attitude_control — Momentum Exchange Attitude Control
• motion_planning — Motion Planning
• nonlinear_mpc — Nonlinear MPC
• null_space_control — Null Space Control
• null_space_projection — Null Space Projection
• operational_space_control — Operational Space Control
• operational_space_formulation — Operational Space Formulation
• optimal_control_bvp — Optimal Control BVP
• parameter_estimation — Parameter Estimation
• path_dependent_workspace — Path Dependent Workspace
• prescribed_performance_control — Prescribed Performance Control
• pseudoinverse_jacobian — Pseudoinverse Jacobian
• reaction_null_space — Reaction Null Space
• reactionless_motion — Reactionless Motion
• receding_horizon_control — Receding Horizon Control
• redundancy_resolution — Redundancy Resolution
• resolved_motion_rate_control — Resolved Motion Rate Control
• risk_aware_mpc — Risk Aware Mpc
• sequential_convex_programming — Sequential Convex Programming
• signal_temporal_logic — Signal Temporal Logic
• singularity_robust_inverse — Singularity Robust Inverse
• sliding_mode_control — Sliding Mode Control
• tail_risk_measures — Tail Risk Measures
• task_prioritization — Task Prioritization
• task_priority_control — Task Priority Control
• task_priority_redundancy — Task Priority Redundancy
• task_priority_redundancy_resolution — Task Priority Redundancy Resolution
• task_space_error_dynamics — Task Space Error Dynamics
• technical_controllability — Technical Controllability
• time_consistency — Time Consistency
• time_delay_estimation — Time Delay Estimation
• trajectory_optimization — Trajectory Optimization
• trajectory_tracking — Trajectory Tracking
• unit_quaternion — Unit Quaternion
• value_at_risk — Value-at-Risk

Results (12)

• circumcentroidal_decoupling — Circumcentroidal Decoupling (Derivation of Equation 21)
• coordinated_circumcentroidal_control — Coordinated Circumcentroidal Control — End-to-End Spine
• coordinated_control_lyapunov_stability — Coordinated Control: Lyapunov Asymptotic Stability of the Tracking Error
• coordinated_control_passivity — Passivity / Skew-Symmetry of the Coupled 9×9 Attitude+EE Block
• discretization_stability_omega_b — Base-Angular-Velocity Ripple Is a Forward-Euler Instability, Not a Control or Singularity Pathology
• gamma_closed_form_inverse — Closed-Form Inverse of the Coordinate Transform $\mathbf{\Gamma }$
• posture_oracle_gap — The Posture Oracle Gap: From a Kinematic Existence Proof to a Buildable Posture Lever
• singularity_geometry — The Neutral/Elbow Singularity is a Posture Singularity — Determinant Factorization, Mass- and Length-Independent
• singularity_handling — Singularity Handling: The Four-Layer Conditioning Cascade
• singularity_threshold_cascade — Singularity Threshold Cascade and the Four-Layer Conditioning Stack
• steady_state_error_floor — Steady-State (Cruise-Lag) Pose-Error Floor
• subsystem_decomposition — Subsystem Decomposition: COM · Base · End-Effector

Registries

• notation.md — canonical symbols
• terminology.md — terms & acronyms