Compensation dynamique des oscillations des manipulateurs de la station spatiale

Abstract

Ce document presente une methode de compensation dynamique des oscillations du SSRMS, le long manipulateur flexible du systeme d'entretien mobile de la station spatiale, par le SPDM, le manipulateur agile a deux bras, monte a l'extremite du SSRMS. La methode proposee implique le calcul en temps reel de la deflexion du SSRMS. Ce calcul est accompli a partir des mesures fournies par un capteur de forces situe a l'extremite du SSRMS, au moyen d'une technique basee sur les theories de dynamique des structures: la methode de rigidite directe. Des resultats obtenus avec cette methode presentent une tres bonne concordance avec ceux calcules par un modele dynamique conventionnel.

Par la suite, une strategie de compensation permettant d'isoler l'un des bras du SPDM des oscillations du SSRMS est presentee. Finalement, afin d'eviter que les mouvements compensatoires du SPDM n'induisent des vibrations additionnelles dans le SSRMS, une technique permettant d'annuler la force de reaction a la base du SPDM par des mouvements de son deuxieme bras est presentee.

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This paper presents a method for dynamically compensating oscillations of the SSRMS, the long flexible manipulator of the Space Station Mobile Servicing System, by the SPDM, the agile two-arm manipulator, mounted at the end of the SSRMS. The proposed method involves the real-time calculation of the SSRMS deflection. This calculation is accomplished from measurements provided by a force sensor located at the end of the SSRMS, using a technique based on structural dynamics theories: the direct stiffness method. Results obtained with this method present a very good agreement with those calculated by a conventional dynamic model.

Subsequently, a compensation strategy making it possible to isolate one of the arms of the SPDM from the oscillations of the SSRMS is presented. Finally, in order to prevent the compensatory movements of the SPDM from inducing additional vibrations in the SSRMS, a technique allowing the reaction force at the base of the SPDM to be canceled by movements of its second arm is presented.