Experimental validation of the efficient robotic transportation algorithm for large-scale flexible space structures
Name
230816765-MIT.pdf
Description
Full printable version
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5.08 MB
Format
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e2e4f070ff4f61f527b915bb219ec647
Author(s)
Ono, Masahiro, S.M. Massachusetts Institute of Technology
Advisor(s)
Steven Dubowsky.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
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).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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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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