ROMANSY 11 pp 13-20 | Cite as

Towards Reducing Thruster-Flexibility Interactions in Space Robots

  • E. Martin
  • E. Papadopoulos
  • J. Angeles
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


Space manipulators mounted on an on-off thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link flexibility become important, for they can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamic behavior of a flexible-joint manipulator on a free-flying base is approximated by a single-mode mechanical system, while its parameters are matched with space-manipulator data. Describing functions are used to predict the dynamic performance of three alternative controller-estimator schemes, and to conduct a parametric study on the influence of key system parameters. Design guidelines and a state-estimator are suggested that can minimize such undesirable dynamic interactions as well as thruster fuel consumption.


Fuel Consumption Attitude Controller Link Flexibility Space Robot Switching Line 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • E. Martin
    • 1
  • E. Papadopoulos
    • 1
  • J. Angeles
    • 1
  1. 1.McGill UniversityMontrealCanada

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