next up previous contents
Next: Telerobotics Up: Space Robotics Previous: Control Strategies for the

Payload-Attitude Controller Interaction in Space Robotic Systems

E. Martin, E. Papadopoulos, J. Angeles Thruster-based spacecraft attitude control systems are inherently on-off, and hence, their operation produces a rather broad frequency spectrum that can excite manipulator sensitive modes due to flexible links or joints, see Figure 29. This problem is likely to appear especially when the manipulator is moving a big payload. The excitation of these modes can introduce further disturbances to the attitude control system, and therefore, undesirable fuel replenishing limit cycles may develop. In this work, such dynamic interactions are modeled, and analysis methods to predict their occurrence are employed. Control methods that can reduce these undesirable effects will be subsequently developed. [Eric.ps].55 Concept of a thruster-controlled space robot manipulating a payload in orbit.egpapado:angeles:eric



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997