Momentum control of a tethered space robot through tether tension control

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

    研究成果: Conference contribution

    12 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ920-925
    ページ数6
    ISBN(印刷版)078034300X
    DOI
    出版ステータスPublished - 1998 1 1
    イベント15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
    継続期間: 1998 5 161998 5 20

    出版物シリーズ

    名前Proceedings - IEEE International Conference on Robotics and Automation
    1
    ISSN(印刷版)1050-4729

    Other

    Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
    CountryBelgium
    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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