Estimation and control of flexible space structures for autonomous on-orbit assembly
Name
466111475-MIT.pdf
Description
Full printable version
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18.3 MB
Format
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Checksum (MD5)
99115cb67693edbf82914453ca29091a
Author(s)
Katz, Jacob G
Advisor(s)
David W. Miller and Alvar Saenz-Otero.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
The ability to autonomously assemble large structures in space is desirable for the construction of large orbiting solar arrays, interplanetary spacecraft, or space telescopes. One technique uses free-flying satellites to manipulate and connect elements of the structure. Since these elements are often flexible and lack embedded actuators and sensors, the assembly robot must use its own actuators and onboard measurements to suppress vibrations during transportation maneuvers. This thesis will examine the dynamic modeling of a free-flying robot attached to a flexible beam-like element, vision-based estimation of vibrational motion, and trajectory control for assembly of a space structure.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2009.
Includes bibliographical references (p. 135-139).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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