A coordinated control strategy for rotating motion of the Hub-Spoke Tethered Space Robot Formation System

Author

Jun Ma ; Panfeng Huang ; Xiudong Xu

Author_Institution

Res. Center for Intell. Robot., Northwestern Polytech. Univ., Xi´an, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

4628

Lastpage

4633

Abstract

The Hub-Spoke Tethered Space Robot Formation System is a new Tethered Formation System, which is formed by a master TSR (Tethered Space Robot) and several sub-TSRs. The control problem of the rotating motion of the Hub-Spoke Tethered Space Robot Formation System is presented in this paper, and a coordinated control strategy is proposed to control the errors of the angle between two neighboring sub-TSRs. Firstly the dynamics of the Hub-Spoke Tethered Space Robot Formation System is discussed based on some simplifications. After that the coordinated control strategy, in which the tether tensions and the torque of the master TSR are used as control values, is described in detail. Finally some detailed numerical simulations are implemented to validate the proposed coordinated control strategy. The simulations results reveal that the proposed coordinated control strategy is capable of improving the control process effectively.

Keywords

aerospace robotics; motion control; robot dynamics; space vehicles; coordinated control strategy; hub-spoke tethered space robot formation system; master TSR torque; numerical simulations; rotating motion control problem; sub-TSRs; tether tensions; Aerospace electronics; Equations; Robot kinematics; Space vehicles; Torque; Vectors; Formation; Tethered Space Robot and Coordinated Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852999

Filename

6852999