A set of scalar rotational equations of motion is derived for a rigid space vehicle with a number of flexible manipulators connected together in a 'topological tree' structure. The manipulators may have any number of rigid or flexible links interconnected by dissipative elastic joints and subjected to arbitrary forces and torques. These equations are applicable to single or multiple flexible manipulators, and incorporate the possibility of redundancy in any or all of the arms. The tree structure equations introduced are particularly applicale to the space-based situation of the Flight Telerobotics Servicer arms attached to the end of one of the Mobile Servicing Center arms mounted on the Space Station.
Dynamic modeling for control of multiple flexible manipulators
Dynamisches Modell für die Steuerung von mehreren flexiblen Manipulatoren
1990
11 Seiten, 3 Bilder, 21 Quellen
Aufsatz (Konferenz)
Englisch
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