The On-Orbit Maneuvering of Large Space Flexible Structures by Free-Flying Robots

This paper addresses the problems of planning and control of the on-orbit maneuvering of large and highly flexible structures by free-flying robots. An approach is proposed where the robots use their thrusters to control the “rigid body” motion of the robot-structure system being transported and their manipulators to control and damp out vibration in the structure induced by the thruster firings. A modal active damping control law is developed, which uses measurements of the structure state provided by free-flying sensing robots. Simulation results show that this approach is effective in transporting the structure into its desired position while using less fuel compared to suppressing vibration by the robot thrusters.