Dynamic modelling and coordinated controller designing for the manoeuvrable tether-net space robot system

Huang, Panfeng; Hu, Zehong; Zhang, Fan

doi:10.1007/s11044-015-9478-3

Cited by 54 publications

(18 citation statements)

References 19 publications

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“…where l * in (34) can be calculated according to (32) and (33), while l * in (36) can be calculated according to (25). Finally, for the stage of retrieving tether,…”

Section: Retrieval Control Strategymentioning

confidence: 99%

“…Based on the Hamilton principle, a novel dynamics model which revealed distinctive velocity jump phenomenon and a corresponding controller was proposed in [24] to resolve the approach control problem of MTSN. Based on the contact dynamics of rigid robots and the extended Hamilton's principle, Huang et al [25] presented a novel dynamics modeling method for this new rigid-flexible coupling system for…”

Section: Introductionmentioning

confidence: 99%

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Retrieval strategy for failed satellite on tether optimal balance swing angle

Han

Hong

2019

Journal of Systems Engineering and Electronics

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A retrieval control strategy for failed satellite, which is connected to a servicing spacecraft by a tether, is studied. The Lagrange analytical mechanics based dynamics modeling for the system composed of a servicing spacecraft, a tether and a failed satellite, is presented under the earth center inertia coordinate system, then model simplification is conducted under the assumption that the failed satellite's mass is far smaller than the servicing spacecraft's, meanwhile the tether's length is far smaller than the size of the servicing spacecraft's orbit. Analysis shows that the retrieval process is intrinsically unstable as the Coriolis force functions is a negative damping. A retrieval strategy based on only the tether's tension is designed, resulting in the fastest retrieval speed. In the proposed strategy, firstly, the tether's swing angle amplitude is adjusted to 45 • by deploying/retrieving the tether; then the tether swings freely with fixed length until it reaches negative maximum angle-45 • ; finally, the tether is retrieved by the pre-assigned exponential law. For simplicity, only the coplanar situation, that the tether swings in the plane of the servicing spacecraft's orbit, is studied. Numerical simulation verifies the effectiveness of the strategy proposed.

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“…where l * in (34) can be calculated according to (32) and (33), while l * in (36) can be calculated according to (25). Finally, for the stage of retrieving tether,…”

Section: Retrieval Control Strategymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Retrieval strategy for failed satellite on tether optimal balance swing angle

Han

Hong

2019

Journal of Systems Engineering and Electronics

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“…Also, many tethered deorbiting missions have been proposed, and there are also many proposals for dynamic models [4,5]. In addition, a tether-net space robot system utilizing a net shaped tether has also been proposed [6].…”

Section: Introductionmentioning

confidence: 99%

Tether Space Mobility Device Attitude Control during Tether Extension and Winding

2018

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Recently, advancements in space technology have opened up more opportunities for human beings to work in outer space. It is expected that upsizing of manned space facilities, such as the International Space Station, will further this trend. Therefore, a unique means of transportation is necessary to ensure that human beings can move about effectively in microgravity environments. In the present study, we propose a tether-based mobility system, which moves the user by winding a tether attached to a structure at the destination. However, there is a problem in that the attitude of the user becomes unstable during winding of the tether. Therefore, a Tether Space Mobility Device (TSMD) attitude control method for winding a tether is examined through numerical analysis. The proposed analytical model consists of one flexible body and three rigid bodies. The contact force between the tether and the inlet is considered. We verified the validity of the proposed model through experiments. Furthermore, we proposed a TSMD attitude control method during tether winding while focusing on changes in the system’s rotational kinetic energy. Using the proposed analytical model, the angular velocity of a rigid body system is confirmed to converge to 0 deg/s when control is applied.

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“…Operational space missions are more and more endangered by millions of space debris objects [1]. To mitigate this risk, many space debris capturing and removal methods have been proposed [2], such as the robotic arm removal method [3,4], the tethered space robot [5,6], and the harpoon system [7]. Among these methods, the net capturing concept is considered as one of the most promising capturing methods due to multiple advantages: it allows a large distance between the chaser satellite and the target, such that close rendezvous and docking is not mandatory; it is compatible with various dimensions and shapes of space debris objects, especially with those of large space debris objects; and, nally, the net is exible, lightweight and cost ecient.…”

Section: Introductionmentioning

confidence: 99%