VIBRATION CONTROL IN THE ASSEMBLY OF LARGE FLEXIBLE STRUCTURES BY TEAMS OF SPACE ROBOTS

摘要

For in-orbit assembly of future large space structures, teams of robots will be needed to manipulate large flexible structural modules while mounted on a large flexible structure. Here, the problem of planning and controlling the vibration induced in the space structures during this assembly operation is addressed. In the planning and control architecture developed, robots use force sensors at their end-effectors to control the forces that they apply to the structures. The effectiveness of the architecture is shown through simulation results.