Microgravity Experiment for Attitude Control of A Tethered Body by Arm Link Motion

Nohmi, Masahiro; Yamamoto, Takeshi; Takagi, Yasunari

doi:10.5772/6969

Cited by 10 publications

(6 citation statements)

References 6 publications

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“…Menon et al [206] carried out two flights of 30 parabolas each. Parabolic flight tests were performed to evaluate an attitude controller for a tethered robot in [207]. This microgravity simulation technology suffers several obvious drawbacks such as: too short time duration (10~30 seconds) of microgravity condition, very limited work space due to the small volume inside the aircraft, and very non-smooth or jittering working environment due to the aircraft motion [208].…”

Section: Ground Verification: Materials and Methodsmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Section: Ground Verification: Materials and Methodsmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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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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“…The orbit and attitude control of a tethered system in space has received extensive attentions with many articles published in recent years. Nohmi [9,10] 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. The tether tension/length control law was designed to control the attitude of a tethered satellite formation as described in reference [11].…”

Section: Introductionmentioning

confidence: 99%

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

Huang

Wang

Zhang

et al. 2016

Intl J Robust & Nonlinear

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Summary Stabilization control is an essential mission for the tethered space robot‐target combination during the postcapture phase of tethered space robot (TSR). In this paper, the stabilization problem of such a tumbling combination is studied. With the consideration of the space tether and the attitude of the TSR's gripper, the dynamic model of the combination is first derived using Lagrange method. Then a robust nonlinear controller for the combination is proposed based on the backstepping control method. Considering the constraint on the velocity of the space tether, command filter method is utilized to guarantee the velocity of the space tether within a permitted range. A feedback term is designed to compensate the saturation of the thruster. Moreover, an adaptive law is designed to estimate the disturbance of parameter uncertainties and this disturbance is compensated in the proposed controller. Numerical simulations suggest that the proposed robust controller can realize the orbit and attitude stabilization of the combination; besides, the velocity of the space tether is effectively constrained and the parameter uncertainties of the combination can be compensated via the adaptive law. Copyright © 2016 John Wiley & Sons, Ltd.

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Microgravity Experiment for Attitude Control of A Tethered Body by Arm Link Motion

Cited by 10 publications

References 6 publications

A Review of Robotics Technologies for On-Orbit Services

A Review of Robotics Technologies for On-Orbit Services

Detumbling a tethered space robot-target combination using optimal control

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

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