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Abstract
The paper presents a relatively general formulation for studying librational dynamics of a flexible platform supporting a mobile base connected to a series of slewing, flexible appendages. It is applicable to missions requiring slew maneuvers of antennas, telescopes, scientific instruments and, in particular, the U.S. proposed Space Station's Mobile Remote Manipulator System (MRMS). Application of the formulation is illustrated through three simple examples: (i) a satellite consisting of a rigid platform with a slewing, rigid appendage; (ii) a flexible beam-type platform representing the Space Station with a mobile, flexible, slewing arm; (iii) the SCOLE configuration representing the Space Shuttle-based flexible beam supporting a rigid reflector at its end. The analysis provides a useful insight into interactions between inertia parameters, orbit geometry, translational and slewing time histories, flexibility and initial conditions. Results suggest that under critical combinations of the parameters the system may become unstable. Application of the infinite time linear regulator is demonstrated to regain stability.
Published Version
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