Attitude control of a tethered space robot by link motion under microgravity

Nohmi, Masahiro

doi:10.1109/cca.2004.1387248

Cited by 20 publications

(13 citation statements)

References 5 publications

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“…Therefore, the requirement for thrust force can be estimated based on the desired tether attitude and system parameters in deployment, according to equations (29) and (31). It is clear that the control torque of the thrusters should be greater than the magnitude of the coupling torque M t .…”

Section: Tether and Attitude Control With Thrustersmentioning

confidence: 99%

“…28 Propulsion at the tether tip is also discussed to correct severe disturbances. 29 Most of previous studies give an emphasis on the dynamics and control problem of long tether systems as tens of kilometers. Short tethered systems, on the order of tens of meters, have attracted research interests in space operations [30][31][32] in recent years.…”

Section: Introductionmentioning

confidence: 99%

“…[25][26][27] Attitude control for the sub-satellite is also important for space missions such as tethered observatory and payload capture. 28,29 The motion of tether attach point on the sub-satellite is proposed as an effective strategy to generate control moments for precision attitude control. 28 Propulsion at the tether tip is also discussed to correct severe disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Attitude dynamics and thrust control for short tethered sub-satellite in deployment

Liu

Zhou

2014

Proceedings of the Institution of Mechanical Engineers, Part G:

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Dynamic characters and control strategy for short tethered satellite system in deployment are studied in this paper. Tether elastic oscillation and sub-satellite attitude motion are considered in the dynamic model. Sub-satellite releasing method with an initial velocity and a negative acceleration is proposed for fast deployment. It is indicated that the short dimension and fast deployment make dynamic characteristics of both the tether and the sub-satellite different from those of the long-tether systems. Control strategy is designed based on these dynamic characters. Thrusters are considered to provide active control for the tether and the attitude of the sub-satellite. Variable structure control is adopted, taking into account the nonlinear dynamics of the system and the on-off output of the thrusters. Numerical simulation shows that the tethered sub-satellite can be deployed to designed direction in or out of the orbit plane with thrust control. The tension of the tether is positive during deployment. The in-plane angle of the tether is controlled within 0.1 . The out-of-plane angle passively keeps near its initial releasing value. In addition, the attitude angles of the sub-satellite are controlled or passively remain within 0.5 . This fast deployment provides flexibility for tether assisted space operations.

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Section: Tether and Attitude Control With Thrustersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Attitude dynamics and thrust control for short tethered sub-satellite in deployment

Liu

Zhou

2014

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Nohmi [4][5][6] investigated the arm link to control the TSR's attitude during the deployment phase, and a microgravity experiment was conducted to validate the feasibility of this scheme. Godard [7] designed a nonlinear optimal controller using an inverse optimal technique to control the attitude of a satellite via tether offset variations.…”

Section: Introductionmentioning

confidence: 99%

Detumbling a tethered space robot-target combination using optimal control

Wang

Huang

Cai

2014

2014 4th IEEE International Conference on Information Science and Technology

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The problem of detumbling a tethered space robot-target combination system after the target is captured by the tethered space robot (TSR) is studied in this paper. Firstly, the dynamic model of the combination system is established. In order to stabilize the combination, the space tether is utilized to control the attitude. The configuration of the manipulator is designed to change the control torques provided by the space tether so as to achieve a better control performance. The solution of the optimal control which coordinates the tether tension, thruster control torque of the gripper and the manipulator is solved by Gauss pseudospectral method. The numerical simulation result shows attitude of the combination system can be controlled by the coordinated control method.

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“…Nohmi et al (Nohmi et al, 1998;Nohmi, 2004;Takehara et al, 2008;Nohmi et al, 2007;Nohmi et al, 2010) employed a mechanism with an arm on subsatellite to create tether tension torque. Microgravity experiments showed that the rotation motion can be suppressed by the tether tension torque.…”

Section: Introductionmentioning

confidence: 99%

Motion control and its ground-based experiment of a tethered subsatellite with a controllable rigid arm

Jin

Chen

2013

J. Phys.: Conf. Ser.

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Attitude control of a tethered space robot by link motion under microgravity

Abstract: A tethered space robot, which is connected to a mother spacecraft through a peace of tether, is a new space

Cited by 20 publications

References 5 publications

Attitude dynamics and thrust control for short tethered sub-satellite in deployment

Attitude dynamics and thrust control for short tethered sub-satellite in deployment

Detumbling a tethered space robot-target combination using optimal control

Motion control and its ground-based experiment of a tethered subsatellite with a controllable rigid arm

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