Momentum control of a tethered space robot through tether tension control

M. Nohmi, D. N. Nenchev, M. Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    12 Citations (Scopus)

    Abstract

    We discuss a new type of space robot system composed of a spacecraft and a robot attached through a tether to it. The tethered robot is translated away from the spacecraft wing existing tether tension control techniques in gravitational field. Link motion of the tethered robot, however, is complicated, since the momentum is not constant due to the presence of external forces. This paper especially focuses on momentum control of the tethered robot. In addition to translational momentum control, we show that angular momentum of the tethered robot can be controlled by proper motion of the tether attachment point. We propose a control law for link motion of the tethered robot composed of two subtasks: The end-effector motion subtask and the tether attachment point motion subtask.

    Original languageEnglish
    Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages920-925
    Number of pages6
    ISBN (Print)078034300X
    DOIs
    Publication statusPublished - 1998 Jan 1
    Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    ISSN (Print)1050-4729

    Other

    Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
    Country/TerritoryBelgium
    CityLeuven
    Period98/5/1698/5/20

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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