Abstract:
This paper presents a new approach for determination of vibration response of the
triply articulated Space Shuttle Remote Manipulator System (SRMS) with large rigid
overhanging payloads. In contrast to other researchers dynamic modelling is based
on the exact eigenvalue analysis of the two main flexible links with a rigid end
effector and payload, including the effect of interaction of the Shuttle. A wide range
of SRMS configurations and payloads with joints free and locked is examined for
bang-bang slews and with all joints locked for payload positioning using Shuttle
thruster firing.
Description:
Paper given at Dynamics and Control of Systems and Structures in Space (DCSSS), 5th conference, Kings College, Cambridge, July 2002
