The use of a Remote Manipulator System (RMS) from a space-shuttle bay for constr

ID: 1858979 • Letter: T

Question

The use of a Remote Manipulator System (RMS) from a space-shuttle bay for constructing a

space structure is shown in the figure on the left below. The model of the flexible RMS arm

is shown in the figure on the right with 1 q and 2 q as the angles of deflection of the arm. I and

M indicate the moment of inertia about point O and the mass of the load, respectively. J is the

inertia of the drive motor and L is the distance from O to the center of gravity (CG) of the

load mass. In nominal condition, the gravity force is parallel to the line connecting O and the

load%u2019s CG.

a. Derive the differential equations of the system.

b. Linearize the equations by considering only small deviations from the nominal condition.

c. Write a state space representation of the system with the deflection 1 q as the variable of

interest.

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