The construction of future space structures in Earth orbit such as solar power stations and space telescopes will require coordinated teams of autonomous space robots. These robot teams can excite undesirable vibrations in the structures while manipulating or assembling them. Controlling robot teams physically interacting with structural elements in space is challenging. The combined system dynamics are described by sets of nonlinear partial differential equations. Here, these dynamic equations are transformed into a set of linear time-varying ordinary differential equations. The control of the high-frequency robots is then decoupled from the control of the much lower frequency structures. This allows linear optimal control theory to be used to control the robots and minimize structural vibrations. Simulation and experimental studies shown here demonstrate the validity of the approach.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Coordinated control of space robot teams for the on-orbit construction of large flexible space structures


    Additional title:

    Koordinierte Steuerung eines Weltraumroboter-Teams für den Aufbau großer flexibler Strukturen in der Umlaufbahn


    Contributors:

    Published in:

    Advanced Robotics ; 24 , 3 ; 303-323


    Publication date :

    2010


    Size :

    21 Seiten, 16 Bilder, 2 Tabellen, 30 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






    Control of Large Space Structures Assembled in Orbit

    Rutkovsky, V Yu | Online Contents | 2008


    14.0407 Dialogue-Based Human-Robot Interaction for Space Construction Teams

    Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2002


    Control of large flexible space structures

    Joshi, Suresh M. | TIBKAT | 1989