Assuming that the space crane is an adaptive structure with length-adjustable bars and taking as controls the length-adjustments of these bars, the computation of the incremental controls corresponding to the motion of a payload along its minimum-energy trajectory is given in terms of the inverse-transpose of matrix B of the joint equilibrium equations Bs = p, where s lists the bar forces and p lists the nodal loads. The compensation of the controls for elastic deformations and support movements are shown. It is also shown that the computations may be done automatically and in real time by an attached processor once the characteristics of the crane's maneuver are keyed in.
Control of a slow moving space crane as an adaptive structure
AIAA, ASME, ASCE, AHS, and ASC, Structures, Structural Dynamics and Materials Conference ; 1989 ; Mobile, AL, United States
1989-01-01
Conference paper
No indication
English