Title :
On the interaction of flexible modes and on-off thrusters in space robotic systems
Author :
Martin, E. ; Papadopoulos, E. ; Angeles, J.
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
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 it 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 available 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 particular state-estimator are suggested that can minimize such undesirable dynamic interactions as well as thruster fuel consumption
Keywords :
describing functions; flexible structures; manipulator dynamics; space vehicles; state estimation; controller/estimator schemes; describing functions; dynamic behavior; flexible modes; free-flying base; large payloads; on-off thrusters; parametric study; payload-attitude controller fuel-replenishing dynamic interactions; single-mode mechanical system; space manipulators; space robotic systems; state-estimator; Assembly; Attitude control; Control systems; Frequency; Fuels; Guidelines; Manipulator dynamics; Mechanical systems; Orbital robotics; Parametric study; Payloads; Space shuttles; Space vehicles;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.526140
