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On dynamics and control of multi-link flexible space manipulatorsIn this paper dynamics, inverse dynamics, and control problems for multi-link flexible space manipulators are presented. In deriving the flexible manipulator dynamics the following are assumed: flexible deformations are relatively small; angular rates of the links are much smaller than their fundamental frequencies; nonlinear terms (centrifugal and Coriolis forces) in the flexible manipulator model are the same as those in the rigid body model. These assumptions are reasonable for large space manipulators, such as the space crane. Flexible displacements are measured with respect to the rigid body configuration, for which a linear time-varying system is obtained. The inverse dynamics problem consists of determination of joint torques, given tip trajectory, such that joint angles in flexible configuration are equal to the angles in the rigid body configuration. The manipulator control system consists of the feedforward compensation and feedback control loops. Simulation results of a two-link space crane with large payload show that the performance of this linearized dynamics and control approach is reasonable and robust subject to parameter variations during slew operations.
Document ID
19900060596
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Gawronski, W.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Ih, C.-H. C.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Wang, S. J.
(JPL Pasadena, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
Man/System Technology And Life Support
Report/Patent Number
AIAA PAPER 90-3396
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference
Location: Portland, OR
Country: United States
Start Date: August 20, 1990
End Date: August 22, 1990
Accession Number
90A47651
Distribution Limits
Public
Copyright
Other

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