Dynamics, Control and Simulation of Elastic Space Servomechanisms and Manipulators

Abstract

This doctoral thesis comprises essentially reserach results obtained during a cooperation program between reserach istitutes of Brasil (ITA; Sao Jose dos Campos) and Germany (DLR, Oberpfaffenhofen). The global goal consists of three tasks: 1) Analysis of the dynamics of elastic space manipulators, 2) Design of new adaptive control schemes for improving manipulatior performance, 3) Imprint of flight dynamics behaviour to ground manipulator replica using testbeds and simulation tools. Emphasis is given to proper modelling of elasticityArm (ERA), are light-weight structures with elasticity in arms and in arms and joints regarding both, payload mass varying in a large range between kg and almost one ton, and the configuration angle thatis measured between upper and lower arm. Both parameters give strong impact to the eigenfrequencies of the complete system. The controllerdesign takesinto account these influences. It consists of a feed- forward part that forces the manipulator to follow a given trajectory.