Release dynamic and control for tethered space robot using CMAC

As its high safety, flexible operation and many other advantages, tethered space robot (TSR) will be widely applied in the future on-orbit service. Stable release is one of the key technologies of TSR. In this paper, the release dynamic model is established; the release dynamic character of TSR is analyzed; the intelligent control system is deigned by using CMAC neural networks. Take the tangential direction for example, the instable release is simulated. Simulation results show that: the intelligent control system can complete the stable release task very well. The control system has a less sensitiveness for measurement error and tether interference. The control system is robust and the control precision is very high.