Rapid rotational/translational maneuvering experiments of a flexible steel beamFuture space manipulators may need translational base motion to expand the access region of a manipulator. An experiment was conducted to demonstrate slewing of flexible structures with coupled rotational and translational axes while simultaneously suppressing vibrational motion during the maneuver. In the experiment, a flexible steel beam carried by a translational cart was maneuvered by an active controller to perform position-control tasks. Experimental results are presented to show how the flexibility of the steel beam influences the multi-input multi-output feedback controller.
Document ID
19890066661
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Juang, Jer-Nan (NASA Langley Research Center Hampton, VA, United States)
Yang, Li-Farn (NASA Langley Research Center Hampton, VA, United States)
Huanag, Jen-Kuang (Old Dominion University Norfolk, VA, United States)
Macauley, Richard (Wyle Laboratories Hampton, VA, United States)