Dealing With Vibrations in the Deployment Structures of Space Robotic Systems

Robots are needed for important missions in field environments, including space. A very promising class of field systems is long reach manipulator systems (LRMS) consisting of a robotic manipulator carried by a very large deployable structure that provides a large working envelope. The dynamic interactions between the manipulator and its supporting structure can excite degrading vibrations in the structure. Here a planning method, called the Coupling Map, that finds manipulator motions that reduce the levels of structural vibrations is presented. A control approach, called Inferred End-Point Control (IEC), that works with low vibration planning algorithms to compensate for any remaining residual vibrations is also discussed. The results of experimental evaluation of these methods are presented.

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