Tethered Space Robot
Dynamics, Measurement, and Control

The first book to describe a tethered space robot (TSR) system, from fundamental principles to system and mission design specs

Panfeng Huang (Author), Zhongjie Meng (Author), Jian Guo (Author), Fan Zhang (Author)

9780128123096, Elsevier Science

Paperback, published 29 October 2017

316 pages
22.9 x 15.1 x 2.1 cm, 0.45 kg

Tethered Space Robot: Dynamics, Measurement, and Control discusses a novel tethered space robot (TSR) system that contains the space platform, flexible tether and gripper. TSR can capture and remove non-cooperative targets such as space debris. It is the first time the concept has been described in a book, which describes the system and mission design of TSR and then introduces the latest research on pose measurement, dynamics and control. The book covers the TSR system, from principle to applications, including a complete implementing scheme. A useful reference for researchers, engineers and students interested in space robots, OOS and debris removal.

1. Introduction2. Dynamics and Kinetics of Tethered Space Robot System3. Pose Measurement based on Vision Perception4. Coordinated Control Method for Tracking Optimal Trajectory5. Coordinated Control by Considering the Tether Distributed Mass6. Approach Control by Considering the Platform Movement7. Coordinated Coupling Control by considering releasing mechanism8. Coordinated Approaching Control Using Mobile Tether Attachment Points9. Impact Dynamic Modeling and Adaptive Target Capture Control10. Post-capture Attitude Control for a Tethered Space Robot-Target Combination System 11. Conclusions

Subject Areas: Aerospace & aviation technology [TRP]