Control of a tethered robot system using a spacecraft mounted manipulator

Abstract

This paper describes a new type of space robot system consisting of a spacecraft and a robot attached through a tether to the spacecraft. We call this system a tethered robot system. Considering the utilization of the tethered robot system, we especially focus on the control of translational motion of the tethered robot from the spacecraft to the destination point. The main idea is that the tethered robot can receive its initial velocity in the direction of the destination point at the spacecraft. However, due to disturbances, the tethered robot may get off the desired trajectory. We consider trajectory adjustment using a spacecraft mounted manipulator. The tethered robot is attached through the tether to the end-point of the manipulator that applies tether tension. We clarify the characteristics of the tethered robot system and propose several control schemes for trajectory adjustment of the tethered robot, and examine these control schemes.