Experimental validation of the efficient robotic transportation algorithm for large-scale flexible space structures
Author(s)
Ono, Masahiro, S.M. Massachusetts Institute of Technology
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Other Contributors
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Advisor
Steven Dubowsky.
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Show full item recordAbstract
A new large space structure transportation method proposed recently is modified and experimentally validated. The proposed method is to use space robots' manipulators to control the vibration, instead of their reaction jets. It requires less fuel than the reaction jet-based vibration control methods, and enables quick damping of the vibration. The key idea of this work is to use the decoupled controller, which controls the vibration mode and rigid body mode independently. The performance of the proposed method and the control algorithm is demonstrated and quantitatively evaluated by both simulation and experiments.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007. Includes bibliographical references (p. 77-79).
Date issued
2007Department
Massachusetts Institute of Technology. Department of Aeronautics and AstronauticsPublisher
Massachusetts Institute of Technology
Keywords
Aeronautics and Astronautics.