Momentum control of a tethered space robot through tether tension control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 1998, Pages 920-925

  Nohmi, M ^a   Nenchev, D N ^a   Uchiyama, M ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

END EFFECTORS; MOMENTUM; ROBOTICS; SPACE TETHERS; GRAVITATIONAL EFFECTS; MATHEMATICAL MODELS; MOTION CONTROL; SPACE APPLICATIONS; SPACECRAFT; TETHERLINES;

ATTACHMENT POINTS; ENDEFFECTOR MOTION; EXTERNAL FORCE; GRAVITATIONAL FIELDS; MOMENTUM CONTROL; SPACE ROBOT SYSTEM; TETHER TENSION; TETHERED SPACE ROBOTS;

TETHERLINES; MOBILE ROBOTS;

ANGULAR MOTION; TETHERED SPACE ROBOTS;

EID: 0031631841     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677105     Document Type: Conference Paper

References (6)

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2. M. Nohmi, D. N. Nenchev and M. Uchiyama, "Control of a Tethered Robot System Using a Spacecraft Mounted Manipulator, " 1996 AIAA Guidance, Navigation, and Control Conf., Paper No. AIAA-96-3897, July 1996.
3. Y. Umetani and K. Yoshida, "Resolved Motion Rate Control of Space Manipulators with Generalized Ja-cobian Matrix, " IEEE Transaction on Robotics and Automation, Vol. 5, No. 3, pp. 303-314, 1989.
4. M. Nohmi, D. N. Nenchev and M. Uchiyama, "Path Planning for a Tethered Space Robot, " in Proc. of the IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 3062-3067, April 1997.
5. K. Yoshida and D. N. Nenchev, "Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space, " in Proc. 1995 IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1271-1277, 1995.
6. V. J. Modi and A. K. Misra, "On the Deployment Dynamics of Tether Connected Two-Body Systems, " Acta Astronautica, Vol. 6, pp. 1183-1197, 1979.