Dynamics and control of a tethered space robot with tension

Shinji Hokamoto, Naoki Imamura, V. J. Modi

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


Whereas most of the previous studies treat free-floating space robots, this investigation deals with a space robot subjected to a tether tension force. The system is composed of a main satellite in orbit, a tether, and a space robot with a manipulator consisting of two connected links. This study explores coupled motions of the space robot, tether, and main satellite in a gravity-gradient field. Typical dynamics and control results obtained numerically are compared with those for a free-floating space robot.

Original languageEnglish
Pages (from-to)1587-1595
Number of pages9
JournalAdvances in the Astronautical Sciences
Volume109 II
Publication statusPublished - 2002
EventProceedings of the AAS/AIAA Astodynamics Conference - Quebec City, Que., Canada
Duration: Jul 30 2001Aug 2 2001

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science


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