MODIFIED DYNAMICS MODELING FOR MANEUVERING FLEXIBLE SPACE MANIPULATORS

The dynamics of flexible space manipulators carrying out relatively fa st maneuvers is considered. In the past, computer simulations of the d ynamics of flexible space manipulators executing large movements somet imes lacked accuracy, especially during fast maneuvers. This deficienc y can be attributed to the neglect of second order terms in the deform ation field of the flexible links in the manipulator multi-body system . Several modelling techniques can be used to improve flexible space m anipulators dynamics algorithms. These are non-linear deformation fiel d modelling, perturbed dynamics modelling, fictitious joints modelling and bracket joints modelling. These four modelling techniques will be explained in an application to a single-link manipulator, thereby fac ilitating understanding. Analytical and numerical results are presente d, and an assessment of each of the four modelling techniques is given .