Title :
Path planning for a tethered space robot
Author :
Nohmi, M. ; Nenchev, D.N. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
In our previous study we introduced a new type of space robot system, which consists of a spacecraft and a robot attached to it via a tether. In this paper, the characteristics of the system in gravitational field are described and a path planning approach is proposed. The translational motion of the mass center of the robot is controlled by tether tension. The path planning approach ensures end-effector motion along the desired path. In addition, proper motion of the tether attachment point is obtained, such that tension control can take effect. The effectiveness of the approach is examined by computer simulations
Keywords :
force control; manipulator dynamics; motion control; path planning; space vehicles; dynamics; gravitational field; manipulator arms; path planning; spacecraft; tension control; tethered space robot; translational motion control; Aerospace engineering; Control systems; Manipulator dynamics; Motion control; Orbital robotics; Path planning; Robot control; Satellites; Space technology; Space vehicles;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606753
