Structural flexibility of motion systems in the space environment

Abstract

The state-of-the-art is summarized, focusing on interdisciplinary approaches and positions, and future directions in the design, analysis, and control of lightweight robotic and telerobotic motion systems for space application are discussed. The emphasis is on providing a logical connection between the special demands of space applications and the design of the motion system. Flexibility is presented as a natural consequence of these demands. A number of technologies are relevant to extending feasible performance into regions of the design space previously avoided due to the resulting flexibility of the structures and drives. Control technology is considered foremost, but passive damping, structural materials, structural design, operational strategy and sensor technology are closely related. Numerous references are presented for those wishing to employ these technologies.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>