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Control of a slow moving space crane as an adaptive structureAssuming that the space crane is an adaptive structure with length-adjustable bars and taking as controls the length-adjustments of these bars, the computation of the incremental controls corresponding to the motion of a payload along its minimum-energy trajectory is given in terms of the inverse-transpose of matrix B of the joint equilibrium equations Bs = p, where s lists the bar forces and p lists the nodal loads. The compensation of the controls for elastic deformations and support movements are shown. It is also shown that the computations may be done automatically and in real time by an attached processor once the characteristics of the crane's maneuver are keyed in.
Document ID
19890043397
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Utku, S.
(Duke Univ. Durham, NC, United States)
Ramesh, A. V.
(Duke Univ. Durham, NC, United States)
Das, S. K.
(Duke University Durham, NC, United States)
Wada, B. K.
(Duke Univ. Durham, NC, United States)
Chen, G. S.
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Spacecraft Design, Testing And Performance
Report/Patent Number
AIAA PAPER 89-1286
Meeting Information
Meeting: AIAA, ASME, ASCE, AHS, and ASC, Structures, Structural Dynamics and Materials Conference
Location: Mobile, AL
Country: United States
Start Date: April 3, 1989
End Date: April 5, 1989
Accession Number
89A30768
Distribution Limits
Public
Copyright
Other

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