OPTIMIZATION OF DYNAMIC TESTING OF SPACE MANIPULATORS

摘要

Many of the dynamic parameters of space manipulators cannot be verified or identified on ground because of the effect gravity has on the manipulator structure. The in-orbit testing of manipulators, on the other hand, has to be limited to a very short time compared to ground based experiments. The constraints of space experiments combined with the sluggishness of the space manipulators pose very strict requirements for optimization of the testing process. This paper discusses optimization of space experiments using modal parameter sensitivity. The procedure focuses on the optimal kinematic configuration of the manipulators. The parameter identification procedure is centered on determination of the discrepancies between the nominal and the actual values of the structural dynamic parameters. The procedures are verified by numerical simulations.