Trajectory optimization of a multi-tethered space robot on large spinning net structures

The purpose of this paper is to investigate the time optimal trajectory of the multi-tethered robot (MTR) on a large spinning net structures in microgravity environment.

The MTR is a small space robot that uses several tethers attached to the corner-fixed satellites of a spinning net platform. The transition of the MTR from a start point to any arbitrary designated points on the platform surface can be achieved by controlling the tethers’ length and tension simultaneously. Numerical analysis of trajectory optimization problem for the MTR is implemented using the pseudospectral (PS) method.

The globally time optimal trajectory for MTR on a free-end spinning net platform can be obtained through the PS method.

The analysis in this paper is limited to a planar trajectory and the effects caused by attitude of the MTR will be neglected. To make the problem simple and to see the feasibility in the general case, in this paper, it is assumed there are no any limitations of mechanical hardware constraints such as the velocity limitation of the robot and tether length changing constraint, while only geometrical constraints are considered.

The optimal solution derived from numerical analysis can be used for a path planning, guidance and navigation control. This method can be used for more efficient on-orbit autonomous self-assembly system or extravehicular activities supports which using a tether-controlled robot.

This approach for a locomotion mechanism has the capability to solve problems of conventional crawling type robots on a loose net in microgravity.