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

doi:10.1109/AERO.2014.6836266

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 proceeding › Conference 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 language	English
Title of host publication	2014 IEEE Aerospace Conference
Publisher	IEEE Computer Society
ISBN (Print)	9781479916221
DOIs	https://doi.org/10.1109/AERO.2014.6836266
Publication status	Published - 2014
Externally published	Yes
Event	2014 IEEE Aerospace Conference - Big Sky, MT, United States Duration: 2014 Mar 1 → 2014 Mar 8

Publication series

Name	IEEE Aerospace Conference Proceedings
ISSN (Print)	1095-323X

Other

Other	2014 IEEE Aerospace Conference
Country/Territory	United States
City	Big Sky, MT
Period	14/3/1 → 14/3/8

ASJC Scopus subject areas

Aerospace Engineering
Space and Planetary Science

Access to Document

10.1109/AERO.2014.6836266

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

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.

2014 IEEE Aerospace Conference. IEEE Computer Society, 2014. 6836266 (IEEE Aerospace Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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, 2014 IEEE Aerospace Conference, Big Sky, MT, United States, 14/3/1. https://doi.org/10.1109/AERO.2014.6836266

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. / Modeling and analysis of tether-based mobile robot based on flight experiments. 2014 IEEE Aerospace Conference. IEEE Computer Society, 2014. (IEEE Aerospace Conference Proceedings).

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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.",

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

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AU - Watanabe, Keisuke

AU - Ueta, Atsushi

AU - Abiko, Satoko

AU - Nishida, Shinichiro

AU - Oda, Mitsushige

AU - Nakanishi, Hiroki

AU - Yoshii, Masahiro

AU - Suzuki, Satoshi

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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.

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

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