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Proceedings Paper

Optimal control/structure integrated design of a flexible space platform with articulated appendages
Author(s): Atul G. Kelkar; Thomas E. Alberts
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Paper Abstract

A complete set of closed form symbolic equations are developed for a 2-D model of a system comprised of a flexible platform with articulated appendages. The system considered has a flexible two link manipulator, with joint compliance, at one end of the flexible platform and an articulated antenna on the other end. The model is formulated using a Lagrangian approach which incorporates homogeneous transformation matrices, similar to those typically seen in the robotics literature, for the kinematic representation. The integrated control/structure design strategy considered emphasizes rapid system response and minimal structural weight. Constraints are included to keep antenna pointing error to a minimum, and at the same time achieve accurate end point positioning of the manipulator with minimal oscillations.

Paper Details

Date Published: 1 October 1991
PDF: 11 pages
Proc. SPIE 1489, Structures Sensing and Control, (1 October 1991); doi: 10.1117/12.46603
Show Author Affiliations
Atul G. Kelkar, Old Dominion Univ. (United States)
Thomas E. Alberts, Old Dominion Univ. (United States)

Published in SPIE Proceedings Vol. 1489:
Structures Sensing and Control
John Breakwell; Vijay K. Varadan, Editor(s)

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