Vibration Control in the Assembly of Large Flexible Structures by Teams of Space Robots
نویسندگان
چکیده
For in-orbit assembly of future large space structures, teams of robots will be needed to manipulate large flexible structural modules while mounted on a large flexible structure. Here, the problem of planning and controlling the vibration induced in the space structures during this assembly operation is addressed. In the planning and control architecture developed, robots exploit their redundancy and use force sensors at their endeffectors to control the forces that they apply to the structures. The effectiveness of the architecture is shown through simulation results. Copyright © 2002 IFAC.
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