Abstract
This research addresses the optimized motion plans for the variable geometry truss (VGT) in order to avoid the resonant vibration while the VGT moves a target payload from one point to another as a space manipulator. The VGT has high redundancy and can change its shape variously. The natural frequency of the VGT is also changed by the geometry of the VGT. We assume that sinusoidal excitation force is generated by the payload such as trouble satellite during the manipulation, and it can cause the resonant vibration. It is shown that the otimized manipulation clearly reduces the amplitude of vibration by avoiding the resonant vibration.
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