Dynamics of space elastic robot-manipulator

1Gouliaev, VI, 2Zavrazhina, TV
1National Transport University, Kyiv, Ukraine
2Kyiv National University of Construction and Architecture, Kyiv, Ukraine
Kosm. nauka tehnol. 1997, 3 ;(2):90–95
Section: Spacecraft Dynamics and Control
Publication Language: Russian
The problem about elastic vibrations of a space robot-manipulator with distributed parameters is stated. A hybrid-type system of differential equations is constructed, a technique for its solution based on the use of the Hubolt numerical method and transfer matrix is proposed. An example is considered.
Keywords: space robot-manipulator, spacecraft control system
Akulenko L. D., Gukasyan A. A. Rural traffic control unit of the elastic arm. Akademiia Nauk SSSR, Izvestiia, Mekhanika Tverdogo Tela, No. 5, 33—41 (1983) [in Russian].
Akulenko L. D., Mikhailov S. A., Chernous'ko F. L. Modeling the dynamics of a manipulator with elastic links. Akademiia Nauk SSSR, Izvestiia, Mekhanika Tverdogo Tela, No. 3, 118—124 (1981) [in Russian].
Nakano E. Introduction to robotics [Vvedenie v robototehniku], 334 p. (Mir, Moscow, 1988) [in Russian].
Gulyaev V. I., Gaidaichuk V. V., Koshkin V. L. Elastic Deformation, Stability, and Vibrations of Flexible Curved Bars, 344 p. (Nauk. dumka, Kyiv, 1992) [in Russian].
Chernousko F. L., Bolotnik N. N., Gradetsky V. G. Manipulation Robots: dynamics, management, optimization, 367 p. (Nauka, Moscow, 1989) [in Russian].
Chapnik B. V., Heppler G. R. Aplevich J. D. Modeling Impact on a One-Link Flexible Robotic Arm. IEEE Trans. Robotics and Automation, 7 (4), 479—488 (1991).
Kirk C. L., Oria A., Hammer F. Slewing Dynamics and Vibration Control of Flexible Space Shuttle Remote Manipulator. AAS. AIAA Astrodynamics Specialist Conference, 19 p. (Halifax, Canada, 1995).
Wen-Jieh Wang, Shui-Shong Lu, Chen-Fa Hsu. Experiments on the Position Control of a One-Link Flexible Robot Arm. IEEE Trans. Robotics and Automation, 5 (3), 373—377 (1989).

Yossi Chait, Milan Miklavcic, Maccluer C. R., Clark J. Radcliffe. A Natural Modal Expansion for the Flexible Robot Arm Problem Via a Self-Adjoint Formulation. IEEE Trans. Robotics and Automation, 6 (5), 601—603 (1990).