Free Vibration Analysis of Elastic Space Manipulators Including Large Range Varying Payload and Configuration Angle.

Kurzfassung

The goal of this study is the investigation of the influence of different parameters on the behaviour of free vibrating space manipulators, as is the Hermes Robitic Arm. Simple models of elastic beams and joints are used, but with increasing complexity in the analysis. The results are used as a basis for the design of advanced control laws, like adaptive control, applied to manipulators with multiple elastic parts. In this short paper some of the results are shown, more details can be found in (1). Bernoulli-Euler theory for beams with small vibration amplitudes and planar motions are considered throughout.