Flexible dynamic modeling and control for the Remote Manipulator System
This thesis focuses on modeling and controller design for the Space Shuttle Remote Manipulator System (RMS). A dynamic model of the RMS is derived using Book's recursive Lagrangian method. This model has six degree-of-freedom rigid dynamics, joint flexibility dynamics, link transverse elastic d...
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1996
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| Online Access: | http://spectrum.library.concordia.ca/182/1/MQ26007.pdf Xie, Haipeng <http://spectrum.library.concordia.ca/view/creators/Xie=3AHaipeng=3A=3A.html> (1996) Flexible dynamic modeling and control for the Remote Manipulator System. Masters thesis, Concordia University. |