DYNAMICAL ANALYSIS FOR TASK CONFIGURATION OF REDUNDANT FLEXIBLE SPACE MANIPULATOR ON SPACE PLATFORM

摘要

In this paper, we will do dynamical analysis for the task configuration of a redundant flexible space manipulator with slewing and deployable links on the space platform. We will analyze which joints have to be constrained or which the best configuration for a payload-docking task is in a manipulator system considering dynamical influence, for example, influence of link vibration. At this time, the robot is controlled by the transposed Jacobian method. Simulation results show that there are some appropriate configurations to reduce link vibration and energy'consumption.