Tethered Robot Casting Using a Spacecraft-Mounted Manipulator

Nohmi, Masahiro; Nenchev, Dragomir N.; Uchiyama, Masaru

doi:10.2514/2.4784

Cited by 26 publications

(7 citation statements)

References 6 publications

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“…They showed the stable equilibrium point, which balances a gravity force, a centrifugal force of the craft, and a tension of the tether. Method of trajectory planning for the tether robot was proposed [18]. They designed the trajectory of the robot by using the spline function and showed simulation results of tether motion.…”

Section: Related Workmentioning

confidence: 99%

Casting Manipulation—Midair Control of a Gripper by Impulsive Force

2008

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We have developed a casting manipulator that includes a flexible light string in the link mechanism to enlarge the workspace of the manipulator. In the casting manipulation, an endeffector is launched to its target by releasing the string connected to it, and its trajectory is controlled by the tension of the string. In this paper, we present the midair control of the end-effector. As a simple way, we propose the braking technique to apply impulsive force to the end-effector by braking the movement of the string. Examining dynamic characteristics of the string when an impulsive force applies to it, we show that the midair motion of the end-effector can be controlled by the braking technique. Then, we apply the braking technique to the multiple braking control of the trajectory. We confirm the effectiveness of the proposed method through simulations and experiments using casting manipulator hardware.

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Section: Related Workmentioning

confidence: 99%

Casting Manipulation—Midair Control of a Gripper by Impulsive Force

2008

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“…The main objective of STARS project is technical verification for Tethered Space Robot (TSR). TSR is a new type of space robot system proposed in the previous work [1], [2]. TSR differs significantly from the Tethered Satellite System (TSS) studied so far [3], [4], mainly in three aspects.…”

Section: Introductionmentioning

confidence: 98%

Development of Space Tethered Autonomous Robotic Satellite

Nohmi

2007

2007 3rd International Conference on Recent Advances in Space Technologies

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Space Tethered Autonomous Robotic Satellite is that its attitude can be controlled under tether tension by its (STARS) is being developed for technical verification of own link motion. This can be done by employing methods Tethered Space Robot (TSR), which is a new type of space borrowed from free-flying space robots studies [5], [6]. robot system proposed in the previous work. The STARS The STARS consists of a mother satellite and a daughter consists of mother and daughter satellites connected by satellite connected by tether as shown in figure 1. The mother tether. The mother satellite deploys tether having the satellite deploys tether having the daughter satellite at its end. daughter satellite at its end. The daughter satellite is TSR, For the purpose of coperation control for tether extension and and has one arm link, whose end is attached to tether. Then, robot, the mother and the daughter satellites communicate attitude control by arm link motion is possible under through bluetooth. The daughter satellite has one arm link, and condition that tether tension is applied. Main mission of the tether is attached at its end. Then attitude control by arm link STARS follows seaquence as: the mother satellite release motion using tether tension is possible, that is, camera attitude the daughter satellite; attitude of the daughter satellite is mounted on the daughter satellite can be operated. Images are controlled by arm link motion; the camera mounted on the transmitted to the ground station at amateur radio frequency. daughter satellite takes a picture during deployment; the Generally, it is difficult to take an image picture of a space daughter satellite docks with the mother satellite. The system on orbit, then it is expected to deliver all over Japan, system of the STARS consists of power, data handling, also all over the world. communication, camera, attitude control, structure, The mother and the daughter satellites have the same deployment, and robotic subsystems. Deployment and subsystems as follows: power subsystem; data handling robotic subsystems are specific compared to other pico-subsystem; communication subsystem; camera subsystem; satellite. Main objective of the deployment subsystem is to attitude control subsystem. The mother and the daughter deploy and to retrieve tether. On the other hand, main satellites have different subsystems as follows: structure objective of the robotic subsystem is to control attitude of subsystem; deployment subsystem; robot subsystem. This the daughter satellite.paper is organaized as follows. Section II describes mission seaquence, and section III explaines structure design. Section

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“…Tethers have been used on walking robots to enable those robots to enter dangerous areas, such as the inside of a volcano [12]. Tethers have also been proposed for controlling robots in space [13]. Previous swinging robots have been monkey like robots with two hands to grasp a wire [14].…”

Section: Introductionmentioning

confidence: 99%

The design of a tethered aerial robot

McKerrow

Ratner

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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This paper describes the design and modeling of a robot that swings on the end of a tether. Its height above the ground is controlled by the length of the tether. Its location on a spherical shell at the end of the tether is controlled by a pair of ducted fans. The vertical orientation of its body is determined by the point at which the horizontal thrust force acts relative to the centre of gravity (cog). The system acts like a double pendulum with two modes of natural movement. It is modeled with coordinate frames at the ends of the tether and at the cog. Due to the second mode of motion it may oscillate around its centre of gravity while it swings or flies in a circle. From the dynamic model we develop a model for simulating the motion of the tethered robot. This conference paper is available at Research Online: http://ro.uow.edu.au/infopapers/519Abstract-This paper describes the design and modeling of a robot that swings on the end of a tether. Its height above the ground is controlled by the length of the tether. Its location on a spherical shell at the end of the tether is controlled by a pair of ducted fans. The vertical orientation of its body is determined by the point at which the horizontal thrust force acts relative to the centre of gravity (cog).The system acts like a double pendulum with two modes of natural movement. It is modeled with coordinate frames at the ends of the tether and at the cog. Due to the second mode of motion it may oscillate around its centre of gravity while it swings or flies in a circle. From the dynamic model we develop a model for simulating the motion of the tethered robot.

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Tethered Robot Casting Using a Spacecraft-Mounted Manipulator

Cited by 26 publications

References 6 publications

Casting Manipulation—Midair Control of a Gripper by Impulsive Force

Casting Manipulation—Midair Control of a Gripper by Impulsive Force

Development of Space Tethered Autonomous Robotic Satellite

The design of a tethered aerial robot

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