PLANAR DYNAMICS OF FLEXIBLE MANIPULATORS WITH SLEWING DEPLOYABLE LINKS

Space manipulators present several features uncommon to ground-based r obots: They are highly flexible, are often mobile, and have a degree o f redundancy. As space robots become more complex, efficient algorithm s are required for their simulation and control. The present study use s an order N algorithm, based on the Lagrangian approach and velocity transformations, to simulate the planar dynamics of an orbiting manipu lator with arbitrary number of slewing and deployable flexible links. The relatively general formulation accounts for interactions between o rbital, librational, slewing, deployment, and vibrational degrees of f reedom and, thus, is applicable to a large class of manipulator system s of contemporary interest. A parametric analysis of the system dynami cs suggests significant coupling between the rigid-body motion and str uctural vibrations. Obviously, this would affect the manipulator's per formance. A nonlinear controller based on the feedback linearization t echnique is developed to regulate the rigid degrees of freedom.