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Fig. 9 Experimental results: trajectory tracking performance of translational motion Fig. 10 Experimental results: trajectory tracking performance in the orientation direction Fig. 11 Experimental results: translational and rotational tracking errors Fig. 12 Experimental results: control input ({mathbf {u}}), i.e., supplied voltages of three DC motors.

Fig. 3 Simulation results: trajectory tracking performance of translational motion Fig. 4 Simulation results: trajectory tracking performance in the orientation direction Fig. 5 Simulation results: translational and rotational tracking errors Fig. 6 Simulation results: robot velocity Fig. 7 Simulation results: control input ({mathbf {u}}), i.e., supplied voltages of three DC motors.

Furthermore, the simulation results (trajectory, variation of navigation ratio, capture region, etc) are compared with those of biased proportional navigation (BPN), proportional navigation and retro-proportional navigation.

The resulting trajectory data is translated into AR-600E robot movements.

It indicates that the resulted trajectory is still parallel with the output one by INS.

The resulting trajectory uses all the available xenon with 100% duty cycle.

Throughout a given time period when the speed, orientation, and velocity changes gradually, these factors render the resulting trajectory smoothness.

Also effects of change in spring factors of manipulator and control parameters on resulted trajectory of manipulator are considered.

If a target is left undefined, the value is inferred from context using interpolation, followed by smoothing of the resulting trajectory.

The resulting trajectory would impact the target on June 15th , 2039 at a closing speed of 49.1 km/s, after consuming 193.8 kg propellant.

The intermediate points are properly selected to avoid collisions between cables and obstacles, and the resulting trajectory is modified using quintic polynomials to enhance the performance.