In this paper, we systematically introduce a novel geostationary orbit (GEO) space debris removal system called dexterous tethered space robot (DTSR). The DTSR has three notable characteristics: dexterity, lightweight, and cost effectiveness. We first describe the system's design and a typical mission scenario, and then present its two core technologies (vision-based pose measurement and coordinated controller design) in detail. Finally, we present the extensive simulations and ground semiphysical experiments to verify that the DTSR is a feasible solution to effectively remove the GEO space debris.


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    Title :

    Dexterous Tethered Space Robot: Design, Measurement, Control, and Experiment


    Contributors:
    Panfeng Huang, (author) / Fan Zhang, (author) / Jia Cai, (author) / Dongke Wang, (author) / Zhongjie Meng, (author) / Jian Guo, (author)


    Publication date :

    2017-06-01


    Size :

    1622658 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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