Research/ ORBITAL ROBOTICS
On the Stiffness Selection for Tethered Space Robot
Guotao Fang, Yizhai Zhang, Yuyao Sun, Panfeng Huang
Surface Mobility & TerramechanicsOpenAlex keyword: tethered space robot · Perception & State EstimationOpenAlex topic: Target Tracking and Data Fusion in Sensor Networks
The steep increase of space-debris is pressing concerns for the aerospace community. As a promising solution, tethered space robot (TSR) can actively remove the space-debris, which is smart, versatile, and low-cost. In this paper, we investigate the influence of the tether stiffness on filtering performance for TSR using posterior Cramr-Rao bound (PCRB). Due to the nonlinearity of TSR system, the computation of PCRB is intractable. Thus, we develop a practical algorithm to numerically approximate the PCRB for nonlinear filtering with additive Gaussian noise. Finally, an optimal tether stiffness is selected for TSR by numerical simulation.