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.
Dexterous Tethered Space Robot: Design, Measurement, Control, and Experiment
IEEE Transactions on Aerospace and Electronic Systems ; 53 , 3 ; 1452-1468
2017-06-01
1622658 byte
Article (Journal)
Electronic Resource
English
NASA's first dexterous space robot
NTRS | 1990
|Tethered space robot : dynamics, measurement, and control
TIBKAT | 2018
|Dexterous mechanisms for robot locomotion
Online Contents | 1998
|Proximity Sensors Make Robot Dexterous
NTRS | 1990
|Robot Forearm and Dexterous Hand
NTRS | 2005
|