Title :
Trajectory planning and feedforward control of a tethered robot system
Author :
Nohmi, M. ; Nenchev, D.N. ; Uchiyama, M.
Author_Institution :
Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
The authors previously (1996) proposed a new type of space robot system, consisting of a spacecraft and a robot attached through a tether to it. This system is called a “tethered robot system.” In this paper, we clarify the characteristics of the tethered robot system, and especially focus on position control of the center of mass of the robot. Tether tension is used to control the position, taking into account the gravity gradient and the centrifugal force. The results from the trajectory planning procedure suggest that the shape of the path depends both on the direction to the destination point and the time to accomplish the mission, it does not depend on the distance. From the simulation results with feedforward control it is concluded that accurate path planning is possible only if the destination point is close to the initial point, or if the time to accomplish the mission is long enough
Keywords :
aerospace control; feedforward; mobile robots; path planning; space vehicles; Space robot system; Spacecraft; centrifugal force; feedforward control; gravity gradient; position control; tether tension; tethered robot system; trajectory planning; Aerospace engineering; Control systems; Manipulator dynamics; Motion control; Motion planning; Orbital robotics; Robots; Space technology; Space vehicles; Trajectory;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.569016