Interaction dynamics of an orbiter and a flexible space structure undergoing incremental in-space construction

A theoretical investigation is presented pertaining to the use of a Shuttle based remote manipulator system to construct and assemble the Space Station at the primary stage. The equations of motion for an on-orbit Space Shuttle with flexible or rigid remote manipulator system are developed including the effect of librational motion, starting and stopping motion constraints, and contact/impact conditions in maneuvering the Space Shuttle Remote Manipulator System (SRMS). Preliminary results indicated that the orbiting system may become unstable when certain disturbances have been triggered that provided a guideline in maneuvering the SRMS.