Performance of an Orbiting Flexible Mobile Manipulator

[+] Author and Article Information
V. J. Modi, J. K. Chan

Department of Mechanical Engineering The University of British Columbia Vancouver, B. C. Canada V6T 1W5

J. Mech. Des 113(4), 516-524 (Dec 01, 1991) (9 pages) doi:10.1115/1.2912813 History: Received September 01, 1990; Online June 02, 2008


This paper presents a Lagrangian formulation for studying the dynamics and control of the Space Station based Mobile Servicing System (MSS) for a particular case of in-plane libration and maneuvers. The simplified case is purposely considered to focus on the effects of structural and joint flexibilities of the MSS on the complex interactions between the station and manipulator dynamics during slewing and translational maneuvers. The response results suggest that under critical combinations of parameters, the system can become unstable. During maneuvers, the deflection of the MSS can become excessive, leading to payload positioning error and the librational disturbance can also be significant. A linear quadratic regular is designed to simultaneously control the deflection of the manipulator and maintain the station at its operating configuration.

Copyright © 1991 by The American Society of Mechanical Engineers
Topics: Manipulators
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