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

被引：143
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
收藏
页码：1452 / 1468
页数：17
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