The performance of large-scale, lightweight, space-based manipulators is currently limited by the available control system technologies. To achieve high performance with a space-based manipulaort, a control system is required which does not undergo performance degradation due to manipulator link flexture.Research and development in the area of compliant manipulator control has been hindered by two problems: 1) lack of an effective means of accurately measuring end-effector position, and 2) inability to solve the inverse dynamic equations in real-time.The objective of Phase I is to develop the basic technolog necessary for the development of a large-scale, space-based, compliant manipulator using endpoint feedback system, a control law using inverse dynamics, and the design of a high performance, single board computer for real-time implementation of inverse dynamics.STATUS: Phase I Only
