Abstract
The problem of impact dynamics of space robotic systems that consist of a rigid manipulator supported by a flexible deployable structure is addressed. Due to joint back-drivability and the dynamic coupling between the manipulator and its sup-porting structure, unknown motion of the system occurs after it makes impulsive contact with the environment. A method that uses the system’s dynamic model is proposed to estimate the motion of the system after impact and used to minimize the impact effect and vibrations of the supporting structure. This method is verified experimentally using the MIT Vehicle Emulation System (VES II). The experimental results show that the impact force and the system motion after impact can be reduced if the manipulator configuration prior to impact and the controller gains are properly selected.
