TY - JOUR
T1 - Dexterous Tethered Space Robot
T2 - Design, Measurement, Control, and Experiment
AU - Huang, Panfeng
AU - Zhang, Fan
AU - Cai, Jia
AU - Wang, Dongke
AU - Meng, Zhongjie
AU - Guo, Jian
N1 - Publisher Copyright:
© 1965-2011 IEEE.
PY - 2017/6
Y1 - 2017/6
N2 - In this paper, we systematically introduce a novel geostationary orbit (GEO) space debris removal system called dexterous tethered space robot (DTSR). The DTSR has three notable characteristics: dexterity, lightweight, and cost effectiveness. We first describe the system's design and a typical mission scenario, and then present its two core technologies (vision-based pose measurement and coordinated controller design) in detail. Finally, we present the extensive simulations and ground semiphysical experiments to verify that the DTSR is a feasible solution to effectively remove the GEO space debris.
AB - In this paper, we systematically introduce a novel geostationary orbit (GEO) space debris removal system called dexterous tethered space robot (DTSR). The DTSR has three notable characteristics: dexterity, lightweight, and cost effectiveness. We first describe the system's design and a typical mission scenario, and then present its two core technologies (vision-based pose measurement and coordinated controller design) in detail. Finally, we present the extensive simulations and ground semiphysical experiments to verify that the DTSR is a feasible solution to effectively remove the GEO space debris.
KW - Coordinated control
KW - dexterous tethered space robot (DTSR)
KW - orbital debris removal
KW - spacecraft system design
KW - visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85020203553&partnerID=8YFLogxK
U2 - 10.1109/TAES.2017.2671558
DO - 10.1109/TAES.2017.2671558
M3 - 文章
AN - SCOPUS:85020203553
SN - 0018-9251
VL - 53
SP - 1452
EP - 1468
JO - IEEE Transactions on Aerospace and Electronic Systems
JF - IEEE Transactions on Aerospace and Electronic Systems
IS - 3
M1 - 7859308
ER -