MANIPULATION OF LARGE FLEXIBLE STRUCTURAL MODULES BY SPACE ROBOTS MOUNTED ON FLEXIBLE STRUCTURES
作者： Steven Dubowsky , Dimitrios Tzeranis , Yoshiyuki Ishijima
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摘要: Future large space structures (LSS) will be constructed on orbit by assembling subassemblies using teams of robots. Here, the challenging task control and planning cooperative manipulation flexible structural modules such is addressed. The robots are mounted compliant LSS while moving a module to its pre-assembly position. objective position accurately minimize induced vibration in structure module. A method developed forces applied their support structures, which exploits robot cooperation redundancy. evaluated simulations.
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