Path planning for a tethered space robot

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

    Research output: Contribution to journalConference articlepeer-review

    11 Citations (Scopus)


    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 languageEnglish
    Pages (from-to)3062-3067
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

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


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