Abstract

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 dynamics and torsional elastic dynamics. A computationally efficient control approach for addressing joint and boom flexibility of the RMS is investigated. The control strategy consists essentially of four parts. The first part involves pre-shaping the joint trajectories in order to reduce the excitation of link flexibility. The second part is a rigid model based inverse dynamics control which is used to obtain the desired joint torque. The third part is a flexible-joint control loop which is based on a perturbation technique. The last part is a pulse active damping (PAD) control loop which is applied to damp out the system residual vibrations in a fast manner. The integrated control strategy leads to fast end-effector trajectory tracking with less end-effector vibration and fast damping of residual vibrations.