Abstract This paper summarizes an approach for modeling, simulation, and control of tethered systems in which the tether is actively controlled. Various aspects of the system model are described, including… Click to show full abstract
Abstract This paper summarizes an approach for modeling, simulation, and control of tethered systems in which the tether is actively controlled. Various aspects of the system model are described, including tether dynamics, end-effector dynamics, contact interaction and the model of the active tether material. We consider three scenarios: a tether made of an electrically switchable material for small body sampling, a tether for close-proximity operations such as capture and grappling, and a tether harpooning to a small body for sample capture, fly-by, rendezvous, and/or landing.
               
Click one of the above tabs to view related content.