Control of flexible space station remote manipulator training system

This paper describes the modelling, design, and analysis of the joint control system for the Space Station remote manipulator ground training system. The purpose of this robotic system is to emulate the Space Station Remote Manipulator System in form, function, and performance, so that astronauts can receive flight-like training in one-g environment. The main focus of the paper is joint control design in the presence of boom and joint flexibility, and nonlinearities associated with actuators, drive trains, and sensors.<>