Continuum modeling of the Space Shuttle Remote Manipulator System

The formulation of structural dynamics models for the Space Shuttle Remote Manipulator System (RMS) is discussed. Continuum models are used instead of finite element models because of the improved accuracy, the reduced number of model parameters, the avoidance of model order reduction, and the ability to represent the structural dynamics and control system dynamics in the same system of equations. Dynamics analysis of both linear and nonlinear versions of the model is performed and compared with finite element model results. A distributed parameter model of the Space Shuttle-RMS payload was generated using the transfer matrix method and the software PDEMOD. The model included an active control system which generated damping at the RMS joints. A stability and control analysis was then performed to detemine the reduction in settling time for RMS operations