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

研究成果: Conference contribution


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.

ホスト出版物のタイトル2014 IEEE Aerospace Conference
出版社IEEE Computer Society
出版ステータスPublished - 2014
イベント2014 IEEE Aerospace Conference - Big Sky, MT, United States
継続期間: 2014 3月 12014 3月 8


名前IEEE Aerospace Conference Proceedings


Other2014 IEEE Aerospace Conference
国/地域United States
CityBig Sky, MT

ASJC Scopus subject areas

  • 航空宇宙工学
  • 宇宙惑星科学


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