TY - GEN
T1 - Coordinated control of tethered space robot using releasing characteristics of space tether
AU - Huang, Panfeng
AU - Wang, Dongke
AU - Xu, Xiudong
AU - Meng, Zhongjie
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - Tethered Space Robot (TSR) is a new kind of space robot. The tension force of tether can be treated as control input directly for traditional coordinated control of TSR. However, it is difficult to track the desired tension force. In this paper, tension force input is replaced by the control torque of releasing motor in order to solve this problem. Furthermore, it provides new coordinated coupled control method for tracking optimal trajectory and desired attitude angles. The dynamics of tether releasing mechanism is taken into account in this dynamics model. Furthermore, the coordinated coupled controller is proposed, which contains 6-DOF sliding mode controller and PD controller of releasing reel. Finally, the simulation experiment is proposed in order to validate the effectiveness of this control method. The results show that TSR can track the optimal approaching trajectory accurately. Simultaneously, the attitude angles can be changed to the desired attitude angles in control period, and the terminal accuracy is ± 0.3 degree.
AB - Tethered Space Robot (TSR) is a new kind of space robot. The tension force of tether can be treated as control input directly for traditional coordinated control of TSR. However, it is difficult to track the desired tension force. In this paper, tension force input is replaced by the control torque of releasing motor in order to solve this problem. Furthermore, it provides new coordinated coupled control method for tracking optimal trajectory and desired attitude angles. The dynamics of tether releasing mechanism is taken into account in this dynamics model. Furthermore, the coordinated coupled controller is proposed, which contains 6-DOF sliding mode controller and PD controller of releasing reel. Finally, the simulation experiment is proposed in order to validate the effectiveness of this control method. The results show that TSR can track the optimal approaching trajectory accurately. Simultaneously, the attitude angles can be changed to the desired attitude angles in control period, and the terminal accuracy is ± 0.3 degree.
KW - Coordinated control
KW - Sliding mode control
KW - Space tether
KW - Tethered space robot
UR - http://www.scopus.com/inward/record.url?scp=84964453410&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7418990
DO - 10.1109/ROBIO.2015.7418990
M3 - 会议稿件
AN - SCOPUS:84964453410
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 1542
EP - 1547
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -