Abstract
In our previous study we introduced a new type of space robot system, which consists of a spacecraft and a robot attached through a tether to it. In this paper, the characteristics of the system in gravitational field are described and a path planning approach is proposed. The translational motion of the mass center of the robot is controlled by tether tension. The path planning approach ensures end-effector motion along the desired path. In addition, proper motion of the tether attachment point is obtained, such that tension control can take effect. The effectiveness of the approach is examined by computer simulations.
| Original language | English |
|---|---|
| Pages (from-to) | 3062-3067 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| Publication status | Published - 1997 Jan 1 |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering