On the Stiffness Selection for Tethered Space Robot

Guotao Fang; Yizhai Zhang; Yuyao Sun; Panfeng Huang

doi:10.1109/ROBIO55434.2022.10011953

On the Stiffness Selection for Tethered Space Robot

Guotao Fang, Yizhai Zhang, Yuyao Sun, Panfeng Huang

School of Astronautics

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

The steep increase of space-debris is pressing concerns for the aerospace community. As a promising solution, tethered space robot (TSR) can actively remove the space-debris, which is smart, versatile, and low-cost. In this paper, we investigate the influence of the tether stiffness on filtering performance for TSR using posterior Cramr-Rao bound (PCRB). Due to the nonlinearity of TSR system, the computation of PCRB is intractable. Thus, we develop a practical algorithm to numerically approximate the PCRB for nonlinear filtering with additive Gaussian noise. Finally, an optimal tether stiffness is selected for TSR by numerical simulation.

Original language	English
Title of host publication	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	297-302
Number of pages	6
ISBN (Electronic)	9781665481090
DOIs	https://doi.org/10.1109/ROBIO55434.2022.10011953
State	Published - 2022
Event	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, China Duration: 5 Dec 2022 → 9 Dec 2022

Publication series

Name	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Conference

Conference	2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Country/Territory	China
City	Jinghong
Period	5/12/22 → 9/12/22

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10.1109/ROBIO55434.2022.10011953

Cite this

Fang, G., Zhang, Y., Sun, Y., & Huang, P. (2022). On the Stiffness Selection for Tethered Space Robot. In 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 (pp. 297-302). (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO55434.2022.10011953

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title = "On the Stiffness Selection for Tethered Space Robot",

abstract = "The steep increase of space-debris is pressing concerns for the aerospace community. As a promising solution, tethered space robot (TSR) can actively remove the space-debris, which is smart, versatile, and low-cost. In this paper, we investigate the influence of the tether stiffness on filtering performance for TSR using posterior Cramr-Rao bound (PCRB). Due to the nonlinearity of TSR system, the computation of PCRB is intractable. Thus, we develop a practical algorithm to numerically approximate the PCRB for nonlinear filtering with additive Gaussian noise. Finally, an optimal tether stiffness is selected for TSR by numerical simulation.",

author = "Guotao Fang and Yizhai Zhang and Yuyao Sun and Panfeng Huang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 ; Conference date: 05-12-2022 Through 09-12-2022",

year = "2022",

doi = "10.1109/ROBIO55434.2022.10011953",

language = "英语",

series = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "297--302",

booktitle = "2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022",

}

Fang, G, Zhang, Y, Sun, Y & Huang, P 2022, On the Stiffness Selection for Tethered Space Robot. in 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Institute of Electrical and Electronics Engineers Inc., pp. 297-302, 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, Jinghong, China, 5/12/22. https://doi.org/10.1109/ROBIO55434.2022.10011953

On the Stiffness Selection for Tethered Space Robot. / Fang, Guotao; Zhang, Yizhai; Sun, Yuyao et al.
2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 297-302 (2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The steep increase of space-debris is pressing concerns for the aerospace community. As a promising solution, tethered space robot (TSR) can actively remove the space-debris, which is smart, versatile, and low-cost. In this paper, we investigate the influence of the tether stiffness on filtering performance for TSR using posterior Cramr-Rao bound (PCRB). Due to the nonlinearity of TSR system, the computation of PCRB is intractable. Thus, we develop a practical algorithm to numerically approximate the PCRB for nonlinear filtering with additive Gaussian noise. Finally, an optimal tether stiffness is selected for TSR by numerical simulation.

AB - The steep increase of space-debris is pressing concerns for the aerospace community. As a promising solution, tethered space robot (TSR) can actively remove the space-debris, which is smart, versatile, and low-cost. In this paper, we investigate the influence of the tether stiffness on filtering performance for TSR using posterior Cramr-Rao bound (PCRB). Due to the nonlinearity of TSR system, the computation of PCRB is intractable. Thus, we develop a practical algorithm to numerically approximate the PCRB for nonlinear filtering with additive Gaussian noise. Finally, an optimal tether stiffness is selected for TSR by numerical simulation.

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 5 December 2022 through 9 December 2022

ER -

On the Stiffness Selection for Tethered Space Robot

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