Abstract
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.
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© 1997 Springer-Verlag Wien
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Martin, E., Papadopoulos, E., Angeles, J. (1997). Towards Reducing Thruster-Flexibility Interactions in Space Robots. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) ROMANSY 11. International Centre for Mechanical Sciences, vol 381. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2666-0_2
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DOI: https://doi.org/10.1007/978-3-7091-2666-0_2
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82903-5
Online ISBN: 978-3-7091-2666-0
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