مدل‌سازی دینامیکی و کنترل ربات فضایی متصل به تتر

In present study, dynamic modeling and control of a tethered space robot system in trajectory tracking of its end effector is investigated. Considering variation of the tether length in the model, dynamics of the system is modeled using Lagrange’s method. Librational motion of the tether is controlled by adjusting the tether length similar to conventional manipulators,control of the robot is performed by its motors. It is clear that, in the trajectory tracking of the end effector, the tether length should be kept more or less constant, keeping them in a stable position. Limiting the tether length variation while using it as a tool for controlling the tether librational motion, is the main challenging part of the control system. To deal with this problem, a hybrid control  system is proposed to control the system. A nonlinear model predictive control approach (NMPC) is utilized to control the tether librational motion and a modified computed torque method (CTM) is used to control the manipulator motion. Initially the NMPC controller is developed for a simple tethered satellite system. Then it is combined with the CTM controller. The proposed controller is employed to control motion of a space robot’s end effector on a predefined trajectory. Performance of the controller is then evaluated by numerical simulations.