MANIPULATION OF LARGE FLEXIBLE STRUCTURAL MODULES BY SPACE ROBOTS MOUNTED ON FLEXIBLE STRUCTURES

摘要

Future large space structures (LSS) will be constructedrnon orbit by assembling large subassemblies using teamsrnof robots. Here, the challenging task of the control andrnplanning of the cooperative manipulation of largernflexible structural modules by such teams is addressed.rnThe robots are mounted on the compliant LSS whilernmoving a module to its pre-assembly position. Thernobjective is to position the module accurately and tornminimize the induced vibration in the large structurernand the module. A method is developed to control thernforces applied by the robots to the module and theirrnsupport structures, which exploits robot cooperation andrnredundancy. The method is evaluated using simulations.