On the Interaction of Flexible Modes and Ono Thrusters in Space Robotic Systems
(EN)
Papadopoulos, E
(EN)
Martin, E
(EN)
Angeles, J
(EN)
Space manipulators mounted on an on-off thruster-controlled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link flexibility become important for it can result in payload-attitude controller fuel-replenishing dynamic interactions. In this paper, the dynamic behavior of a flexible-joint manipulator on a free-flying base is approximated by a single-mode
(EN)
