The intention of this research effort is to investigate the salient dynamic characteristics and related control problems of a free-flying robotic device devoted to Extra-Vehicular Activity (EVA) in the vicinity of International Space Station. The system, comprising a rigid main-body and two independent three-link manipulators, is analyzed with the ESA multi-body code DCAP. Typical tasks and missions, such as station-keeping and attitude control with manipulator activity and payload transfer, is extensively simulated via time-domain numerical simulations. In particular, the impact of link and payload flexibility is examined from a control and performance evaluation point of view.


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    Title :

    Dynamics and Control of Free-Flying Inspection and Maintenance Vehicle with Manipulators


    Contributors:
    J. Marczyk (author) / A. Bellazzi (author)

    Publication date :

    1989


    Size :

    15 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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