Modeling and analysis of tether-based mobile robot based on flight experiments

Daichi Hirano, Akinori Kobayashi, Kenji Nagaoka, Kazuya Yoshida, Hiroki Kato, Keisuke Watanabe, Atsushi Ueta, Satoko Abiko, Shinichiro Nishida, Mitsushige Oda, Hiroki Nakanishi, Masahiro Yoshii, Satoshi Suzuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2014 IEEE Aerospace Conference
PublisherIEEE Computer Society
ISBN (Print)9781479916221
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE Aerospace Conference - Big Sky, MT, United States
Duration: 2014 Mar 12014 Mar 8

Publication series

NameIEEE Aerospace Conference Proceedings
ISSN (Print)1095-323X

Other

Other2014 IEEE Aerospace Conference
CountryUnited States
CityBig Sky, MT
Period14/3/114/3/8

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ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science

Cite this

Hirano, D., Kobayashi, A., Nagaoka, K., Yoshida, K., Kato, H., Watanabe, K., Ueta, A., Abiko, S., Nishida, S., Oda, M., Nakanishi, H., Yoshii, M., & Suzuki, S. (2014). Modeling and analysis of tether-based mobile robot based on flight experiments. In 2014 IEEE Aerospace Conference [6836266] (IEEE Aerospace Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/AERO.2014.6836266