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.
Dynamics and Control of Free-Flying Inspection and Maintenance Vehicle with Manipulators
1989
15 pages
Report
No indication
English
Base-invariant symmetric dynamics of free-flying manipulators
Tema Archive | 1995
|A contribution to the dynamics of free-flying space manipulators
Online Contents | 1999
|Control of free-flying underactuated space manipulators to equilibrium manifolds
Tema Archive | 1993
|