Path planning for a tethered space robot

Abstract

In our previous study we introduced a new type of space robot system, which consists of a spacecraft and a robot attached to it via a tether. In this paper, the characteristics of the system in gravitational field are described and a path planning approach is proposed. The translational motion of the mass center of the robot is controlled by tether tension. The path planning approach ensures end-effector motion along the desired path. In addition, proper motion of the tether attachment point is obtained, such that tension control can take effect. The effectiveness of the approach is examined by computer simulations.