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

摘要

Future large space structures (LSS) will be constructed on orbit by assembling large subassemblies using teams of robots. Here, the challenging task of the control and planning of the cooperative manipulation of large flexible structural modules by such teams is addressed. The robots are mounted on the compliant LSS while moving a module to its pre-assembly position. The objective is to position the module accurately and to minimize the induced vibration in the large structure and the module. A method is developed to control the forces applied by the robots to the module and their support structures, which exploits robot cooperation and redundancy. The method is evaluated using simulations.