A Novel Approach to Reduce Dynamic Interactions in Space Robots
نویسندگان
چکیده
Space manipulators mounted on an on-o thrustercontrolled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for they can result in payload-attitude controller, fuel-replenishing dynamic interactions. In this paper, the describing-function concept is adapted to be used in conjunction with the root-locus concept, thus providing a di erent picture of the problem and helping in the control system design. This novel adaptation of the describing-function method has shown to give better physical insight in the understanding of the dynamic interaction problem and the design of control schemes to eliminate it.
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