Dexterous Tethered Space Robot: Design, Measurement, Control, and Experiment

被引：142

作者：

Huang, Panfeng ^{[1
,2
]}

Zhang, Fan ^{[1
,2
]}

Cai, Jia ^{[1
,2
]}

Wang, Dongke ^{[1
,2
]}

Meng, Zhongjie ^{[1
,2
]}

Guo, Jian ^{[3
]}

机构：

[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Sch Astronaut, Xian 710072, Peoples R China

[2] Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Peoples R China

[3] Delft Univ Technol, Delft, Netherlands

来源：

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 2017年 / 53卷 / 03期

基金：

中国国家自然科学基金;

关键词：

ATTITUDE TAKEOVER CONTROL; DEBRIS REMOVAL; POST-CAPTURE; TARGET; DETECTOR;

D O I：

10.1109/TAES.2017.2671558

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

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.

引用

页码：1452 / 1468

页数：17

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