Abstract
This paper discusses the dynamics of a tether-based mobile robot in space. The tether-based mobile robot is constrained geometrically using several tethers and can move within an area bounded by the tethers' anchors by changing the tethers' lengths. This robot is equipped with an extendable and retractable arm that approaches the tethers' anchor and reposition it to another point for changing the accessible area and covering a wider area. The Japan Aerospace Exploration Agency conducted an experiment called Robot Experiment on Japanese Experimental Module (REX-J) on the International Space Station for demonstrating such a system's fundamental capabilities. In this paper, the flexibilities of the extendable arm and tethers used in the REX-J are evaluated through image analysis of flight data. This analysis provides the robot's dynamics in three dimensions, which can not be verified experimentally on the ground. In addition, we propose dynamic models for the extendable arm and the tethers. The proposed models are validated by comparing the flight data and the simulation results obtained using the proposed model.
| Original language | English |
|---|---|
| Title of host publication | IEEE Aerospace Conference Proceedings |
| Publisher | IEEE Computer Society |
| ISBN (Print) | 9781479916221 |
| DOIs | |
| Publication status | Published - 2014 |
| Externally published | Yes |
| Event | 2014 IEEE Aerospace Conference - Big Sky, MT, United States Duration: 2014 Mar 1 → 2014 Mar 8 |
Other
| Other | 2014 IEEE Aerospace Conference |
|---|---|
| Country | United States |
| City | Big Sky, MT |
| Period | 14/3/1 → 14/3/8 |
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ASJC Scopus subject areas
- Aerospace Engineering
- Space and Planetary Science
Cite this
Modeling and analysis of tether-based mobile robot based on flight experiments. / Hirano, Daichi; Kobayashi, Akinori; Nagaoka, Kenji; Yoshida, Kazuya; Kato, Hiroki; Watanabe, Keisuke; Ueta, Atsushi; Abiko, Satoko; Nishida, Shinichiro; Oda, Mitsushige; Nakanishi, Hiroki; Yoshii, Masahiro; Suzuki, Satoshi.
IEEE Aerospace Conference Proceedings. IEEE Computer Society, 2014. 6836266.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Modeling and analysis of tether-based mobile robot based on flight experiments
AU - Hirano, Daichi
AU - Kobayashi, Akinori
AU - Nagaoka, Kenji
AU - Yoshida, Kazuya
AU - Kato, Hiroki
AU - Watanabe, Keisuke
AU - Ueta, Atsushi
AU - Abiko, Satoko
AU - Nishida, Shinichiro
AU - Oda, Mitsushige
AU - Nakanishi, Hiroki
AU - Yoshii, Masahiro
AU - Suzuki, Satoshi
PY - 2014
Y1 - 2014
N2 - This paper discusses the dynamics of a tether-based mobile robot in space. The tether-based mobile robot is constrained geometrically using several tethers and can move within an area bounded by the tethers' anchors by changing the tethers' lengths. This robot is equipped with an extendable and retractable arm that approaches the tethers' anchor and reposition it to another point for changing the accessible area and covering a wider area. The Japan Aerospace Exploration Agency conducted an experiment called Robot Experiment on Japanese Experimental Module (REX-J) on the International Space Station for demonstrating such a system's fundamental capabilities. In this paper, the flexibilities of the extendable arm and tethers used in the REX-J are evaluated through image analysis of flight data. This analysis provides the robot's dynamics in three dimensions, which can not be verified experimentally on the ground. In addition, we propose dynamic models for the extendable arm and the tethers. The proposed models are validated by comparing the flight data and the simulation results obtained using the proposed model.
AB - This paper discusses the dynamics of a tether-based mobile robot in space. The tether-based mobile robot is constrained geometrically using several tethers and can move within an area bounded by the tethers' anchors by changing the tethers' lengths. This robot is equipped with an extendable and retractable arm that approaches the tethers' anchor and reposition it to another point for changing the accessible area and covering a wider area. The Japan Aerospace Exploration Agency conducted an experiment called Robot Experiment on Japanese Experimental Module (REX-J) on the International Space Station for demonstrating such a system's fundamental capabilities. In this paper, the flexibilities of the extendable arm and tethers used in the REX-J are evaluated through image analysis of flight data. This analysis provides the robot's dynamics in three dimensions, which can not be verified experimentally on the ground. In addition, we propose dynamic models for the extendable arm and the tethers. The proposed models are validated by comparing the flight data and the simulation results obtained using the proposed model.
UR - http://www.scopus.com/inward/record.url?scp=84904012442&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84904012442&partnerID=8YFLogxK
U2 - 10.1109/AERO.2014.6836266
DO - 10.1109/AERO.2014.6836266
M3 - Conference contribution
AN - SCOPUS:84904012442
SN - 9781479916221
BT - IEEE Aerospace Conference Proceedings
PB - IEEE Computer Society
ER -