Control of a tethered robot system using a spacecraft mounted manipulator

1996 Guidance, Navigation, and Control Conference and Exhibit

Volumn , Issue , 1996, Pages 1-12

  Nohmi, Masahiro ^a   Nenchev, Dragomir N ^a   Uchiyama, Masaru ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

MANIPULATORS; SPACE TETHERS; TETHERLINES; TRAJECTORIES;

CONTROL SCHEMES; DESIRED TRAJECTORIES; DESTINATION POINTS; INITIAL VELOCITIES; SPACE ROBOT SYSTEM; TETHER TENSION; TRAJECTORY ADJUSTMENTS; TRANSLATIONAL MOTIONS;

ROBOTS;

EID: 84959145806     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.2514/6.1996-3897     Document Type: Conference Paper

References (16)

1. R. E. Lindberg, R. W. Longman and M. F. Zedd, Kinematic and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite, The Journal of the Astronautical Sciences, Vol. 38, No. 4, pp. 397-421, 1990.
2. R. W. Longman, The Kinematics and Workspace of a Satellite-Mounted Robot, The Journal of the Astronautical Sciences, Vol. 38, No. 4, pp. 423-440,1990.
3. Z. Vafa and S. Dubowsky, On the Dynamics of Space Manipulators Using the Virtual Manipulator, with Applications to Path Planning, The Journal of the Astronautical Sciences, Vol. 38, No. 4, pp. 441-472,1990.
4. Y. Nakamura and R. Mukherjee, Nonholonomic Motion Planning of Free-Flying Space Robots via a Bidirectional Approach, IEEE Transaction on Robotics and Automation, Vol. 7, No. 4, pp. 500-514, 1991.
5. Y. Umetani and K. Yoshida, Resolved Motion Rate Control of Space Manipulators with Generalized Jacobian Matrix, IEEE Transaction on Robotics and Automation, Vol. 5, No. 3, pp. 303-314, 1989.
6. Y. Masutani, F. Miyazaki and S. Arimoto, Sensory Feedback For Space Manipulators, Proceedings 1989 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1346-1351,1989.
7. M. W. Walker and L. -B. Wee, An Adaptive Control Strategy for Space Based Robot Manipulators, Proceedings 1991 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1673-1680, 1991.
8. K. Yoshida and D. N. Nenchev, Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space, Proceedings 1995 IEEE International Conference _on Robotics and Automation, Vol. 2, pp. 1271-1277, 1995.
9. C. C. Rupp and J. H. Laue, Shuttle/Tethered Satellite System, The Journal of the Astronautical Sciences, Vol. 26, No. 1, pp. 1-17, 1978.
10. 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.
11. P. M. Bainum and V. K. Kumar, Optimal Control of the Shuttle-Tethered-Subsatellite system, Acta Astronautica, Vol. 7, No. 6, pp. 1333-1348,1980.
12. H. Fujii and S. Ishijima, Mission-Function Control for Deployment and Retrieval of a Subsatellite, Journal of Guidance, Control, and Dynamics, Vol. 12, No. 2, pp. 243-247, 1989.
13. D. J. Pines, A. H. Flotow and D. C. Redding, Two Nonlinear Control Approaches for Retrieval of a Thrusting Tethered Subsatellite, Journal of Guidance, Control, and Dynamics, Vol. 13, No. 4, pp. 651-658, 1990.
14. M. Pasca, M. Pignataro and A. Luongo, Three-Dimensional Vibrations of Tethered Satellite Systems, Journal of Guidance, Control and Dynamics, Vol. 14, No. 2, pp. 312-320, 1991.
15. V. J. Modi, P. K. Lakshmanan and A. K. Misra, On the Control of Tethered Satellite Systems, Acta Astronautica, Vol. 26, No. 6, pp. 411-423, 1992.
16. S. Bergamaschi, F. Bonon and M. Legnami, Spectral Analysis of Tethered Satellite System- Mission 1 Vibrations, Journal of Guidance, Control, and Dynamics, Vol. 18, No. 3, pp. 618-624, 1995.